Maintenance 2. General Maintenance
2.4 Tightening Hexagon Socket Head Cap Bolts
Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.
When it is necessary to refasten these bolts in some procedures in this manual (except special cases as noted), use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below.
Bolt | Tightening Torque | ||
M3 | 245 N⋅cm | (25 kgf⋅cm) | |
M4 | 490 N⋅cm | (50 kgf⋅cm) | |
M5 | 980 N⋅cm | (100 kgf⋅cm) | |
M6 | 1,760 | N⋅cm | (180 kgf⋅cm) |
M8 | 3,720 | N⋅cm | (380 kgf⋅cm) |
M10 | 7,350 | N⋅cm | (750 kgf⋅cm) |
M12 | 12,740 | N⋅cm | (1,300 kgf⋅cm) |
Refer below for the set screw.
Set Screw | Tightening Torque | |
M4 | 245 N⋅cm | (25 kgf⋅cm) |
M5 | 392 N⋅cm | (40 kgf⋅cm) |
We recommend that the bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below.
1
5 | 8 |
Bolt hole
3 | 4 |
7 | 6 |
| 2 |
Do not fasten all bolts securely at one time. Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above.
2.5 Matching Origins
EPSON
RC+
After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the Controller. After replacing the parts, it is necessary to match these origins.
The method of calibration is different depending on the software used. Refer to Maintenance: 13. Calibration and follow the steps that pertain to the software you are using.
For calibration, the pulse values for a specific position must be recorded in advance. Before replacing parts, select easy point (pose) data from the registered point data to check the accuracy. Then, follow the steps below to display the pulse values and record them.
Execute the following command from the [Command Window].
>PULSE
PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls
G3 Rev.1 | 71 |