IAI America RCAW - Manual (Page 74)

4. Maintenance
68
4.6 Replacing the Motor
4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type):
RA3C/RA4C Types
[Items Required for Replacement]
y Replacement motor unit y Coupling (with screws)
y Allen wrenches
y Scale y Oil-based marker pen
y Grease
Idemitsu Kosan Daphne Eponex Grease No.2
y PC or teaching pendant
[Overview of Replacement]
1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end).
In this position, replace the motor.
2) Perform homing using a PC or teaching pendant and check for deviation from the initial home
position.
If there is a deviation, adjust the home offset if you are using an ACON controller. If you are using an
ASEL controller, adjust the home preset.
Replacement motor unit
Coupling (with screws)
Home position
Z phase ON
position
Mechanical end
Approx. 2 mm
The countermark on the motor
aligns with this position.
Set by the home offset parameter (ACON) or home
preset parameter (ASEL). (The above value indicates
the factory setting.)
1 mm