9-10
155492-1CD
HW0484820
SDA20
9 Maintenance and Inspection
9.2 Notes on Maintenance Procedures
9.2.3
Arm Replacement
If a malfunction occurs in the arm component parts, the arm unit must be replaced. Contact
your Yaskawa representative.
Note that a spare arm unit is used both for R1 (left arm) and R2 (right arm).
Fig. 9-4: Arm Replacement
9.2.4
Home Position Calibration
After replacing an arm, recalibrate the manipulator home position as described in this section.
For calibration, the positioning key (attached as accessory) shall be used. Refer to
Using the programming pendant, adjust each axis home position so that the positioning key fits
into the key slot as shown in
Fig.9-5 "Home Position Calibration"
, then register each position to
the NX100. For details, refer to "Home Position Calibration" described in the "NX100
INSTRUCTIONS".
Table 9-5: Parts List
Name
Type
Manufacturer
Qty
Configuration
Remarks
Positioning key HW0411598-1
Yaskawa Electric
Corporation
1
Attached as
accessory
(at Home Position)
Arm Unit (R2)
Arm Unit (R1)
Front View
50
80
5
0
-0.008
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