YASKAWA MOTOMAN-PH130F Maintenance Manual

Contents

10 Disassembly and Reassembly of Balancer Unit10.2 Disassembly and Reassembly of Balancer Unit10-2HW1485471HW148547110.2 Disassembly and Reassembly of Balancer Unit• Refer to fig. 10-2 “Spring Fixing Bolts Mounted” and fig. 10-3 “Bal-ancer Installation Diagram” . Disassembly1. Make the L-arm of the manipulator vertical to the ground.2. Remove the hexagon socket head cap screws and mount 3 springfixing bolts M8 or M10 instead. Push up 3 points evenly about 5 mm ofthe flange which is located inside of the balancer unit assembly sothat the spring force is not applied to the rod of the balancer unitassembly.Fig. 10-2: Spring Fixing Bolts Mounted3. Remove the hexagon socket head cap screws .4. Mount fully threaded screws M12 for removal on the shaft assembly(knuckle part) , then remove the shaft assembly (knuckle part) .5. In order to prevent the balancer unit assembly from falling, supportit by using a chain block, etc.NOTE Although the balancer unit position would not deviate whendisassembled and reassembled, refer to chapter 3 “HomePosition Return” before replacement just in case.51Space (approx. 5 mm)Rod(free from spring force)FlangeBalancer unit assemblySpring fixing boltSpring pressuredirectionSpringSpring pressuredirectionRod (spring force applied)Spring pressuredirectionSpring pressuredirectionDANGER• Be sure to mount the spring fixing bolts when removing the balancerunit from the manipulator. If the balancer is removed without thespring fixing bolts, the rod will rapidly shrink which may result ininjury or accident.• Before removing the balancer unit from the manipulator, confirmthat the L-axis motor brake is appropriately functioning and L-axis isfirmly secured with a chain block, etc., to prevent it from rotating.Failure to observe this instruction may rotate the L-axis and cause ahazardous condition.62 21104/134