IAI America RCAW - Manual (Page 81)

4. Maintenance
75
4.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types
[Items Required for Replacement]
y Replacement motor unit y Allen wrenches
y Tension gauge (capable of tensioning to 7 kgf or greater)
y Strong string, looped (or long tie-band)
y Scale y Oil-based marker pen
y PC or teaching pendant
[Overview of Replacement]
1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor.
2) Restore the home position.
Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust
the belt to the specified tension.
3) 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
Z phase ON
position
Mechanical end
Home position
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