The J3-Axis and Theta Motor Assemblies consist of a motor, a drive pulley mounted on the motor shaft together with belt retaining flanges. Since these drives are similar, they are both discussed in this section.
These motor assemblies can be replaced while the robot is mounted in the standard vertical orientation. To replace either assembly, perform the following operations:
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| Electrical Shock Hazard | |
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Contact with electrical power can cause serious injury or death. All of the motors for the PreciseFlex robot are operated at between 160 VDC and 320 VDC. As such, the motor wires present a high-risk.
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1. |
Disconnect the main AC power to the robot. |
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2. |
Remove the Inner Link Cover by removing the 6 screws along the bottom edge of the Inner Link (as illustrated in the section on Replacing the Z-Axis Motor Assembly. |
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3. |
Remove the Inner Link Cable Cover that is under the Inner Link Cover. The Inner Link should look as follows:
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4. |
For the motor of interest, loosen (but do not remove) the three M4 Motor Bracket Screws that mate the Motor Bracket to the Inner Link. The Motor Bracket screw holes are slotted to permit the motor to slide to control the 1st Stage Belt tension. |
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5. |
Back off the Jam Nut on the Tensioning Bolt. |
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6. |
Back off the Tensioning Bolt to eliminate the 1st Stage Belt tension. |
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7. |
Remove the belt by sliding if off of the large pulley and then the motor pulley. |
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8. |
Detach the motor from the Motor Bracket by removing either four M5 SHCS (for J3) or two M4 SHCS (for Theta). |
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9. |
Install the new Motor Assembly (Precise P/N PF10-MA-00050 for J3 or Precise P/N PF10-MA-00051 for Theta) using Loctite 222 on the M5 or M4 screws. |
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10. |
Replace the 1st Stage Belt. |
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11. |
Follow the instructions given below for tensioning the belt. |
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12. |
Lock down the Motor Bracket Screws and the Jam Nut. |
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13. |
Replace the Inner Link Cable Cover and the Inner Link Cover. |
