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2.3.5 Check of Each Axis Drive Status
Move each axis by hand to make sure that it can move smoothly.
For the axes 3 and 4, make them in the servo-free status and make sure of the
above.
•
When nearing the robot in the servo-free status, be sure to carry out the work
by two (2) persons. One person should carry out the work while the other is
monitoring the work outside the hazardous zone. The latter person should
watch the work and be ready to press the EMERGENCY stop switch if any
abnormality occurs.
2.3.6 Check of Timing Belt Status
Remove the arm 2 cover, and visually check to see that the belts of axis 3 and axis 4
are not worn off or cracked.
Also check the timing belt for tension and adjust as necessary, referring to Table 2.1
below.
Robot model
TH250A
TH350A
TH350A-T
TH180
!
Table 2.1
Axis
Tension
[N]
3
48 ~ 64
4
66 ~ 88
3
44 ~ 50
4
96 ~ 110
24
MAINTENANCE MANUAL
DANGER
Unit mass
2
[g/cm
]
0.22
0.22
0.025
0.040
Belt width
Span
[mm]
[mm]
9
49.5
12
183
9
59
15
63
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