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CHAPTER 4 Adjustment
9) Remove the Y-axis upper cover.
To remove the covers, see "7 Removing the Robot Covers" in Chapter 4.
Place the upper cover on the robot base (pedestal) side with the machine
harness still connected.
WARNING
The Z-axis will slide down during the following work, causing a hazardous
situation.
Prop up the Z-axis with a support stand before beginning the work.
10) Lift up the lower end urethane damper and loosen the bolts (6 pieces) securing
the ball screw shown in Fig. 4-15. Then rotate the ball screw with respect to
the Z-axis motor so that the distance between the upper end urethane damper
and the lower end of the spline is 5mm. When the lower end position of the
ball screw is determined, push the ball screw in so that it makes contact with
the bottom of the Z-axis motor installation hole.
11) Tighten the bolts to secure the ball screw. The tightening torque should be
20kgfcm (2.0Nm).
Tighten the bolts a little at a time in a diagonal pattern. Otherwise, the ball
screw might be off-center. After tightening the bolts securely, lower the lower
end urethane damper.
12) Exit the safeguard enclosure.
13) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
14) After completing absolute reset for the Z-axis, check to see if the machine
reference value is within the tolerance range for absolute reset.
15) Turn the controller power OFF.
16) Install the Y-axis arm upper cover.
