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Maintenance 10. Ball Screw Spline Unit
10.2 Replacing the Ball Screw Spline Unit
The replacement procedure of the ball screw spline unit for G10 series and G20 series are
different.
Maintenance
Ball Screw Spline Unit
parts
For Ball Screw Spline Unit (AFB grease)
Grease
Hexagonal
wrench
Nippers
Cross-point screwdriver
Tools
Force gauge
Suitable cord (Length about 1000 mm)
Wiping cloth
10.2.1 Replacing the Ball Screw Spline Unit: G10
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
NOTE
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
198
Name
width across flats: 1.5 mm
width across flats: 3 mm
width across flats: 4 mm
Quantity
Each manipulator model
1
(Refer to Maintenance:
14. Maintenance parts)
Proper
quantity
G10
1
For M3 set screw
1
For M4 screw
1
For M5 screw
1
For cutting wire tie
Only for Cleanroom-model
1
and Protected-model
G10 Belt tension: 130N, 160N
1
G20 Belt tension: 130N, 200N
1
For belt tension
1
For wiping grease
Note
(13.3 kgf, 16.3 kgf)
(13.3 kgf, 20.4 kgf)
G10 / G20 Rev.20
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