IAI America SSPA - Manual (Page 79)

14. Motor Replacement Procedures
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14. Motor Replacement Procedures
The following explains the procedure to replace the motor in the event of coil breakage, etc.
Prepare a storage box, etc., and keep in this box, etc., all screws and other parts you have removed to replace the
motor, because they will be needed during the reassembly.
Caution: When replacing the motor, you must turn on/off the power and servo to perform the following
tasks:
[1] Position the coupling on the motor alone
[2] Install the motor
[3] Operate the brake
Exercise due caution when carrying out each task with the power being supplied.
The purpose of [1] and [2] is to correlate the motor/encoder and actuator positions. If these
tasks are not performed, home return may not be implemented normally.
[3] is performed because the brake, which is a non-excitation brake, cannot be released
(the slider cannot be moved) without excitation.