- for the cow, the milk and the milker 14.10.2016 CIRKULÆRE NR. 1366 (DK) RZ9653 OMBYTNING HÅNDLED MOTOMAN RBT-AKSEL SAC begynder at levere en tube flydende pakning (RZ9614) til tætning og forsegling af sidedæksel u-arm blå (RZ9632) sammen med ombytnings håndled Motoman RBT-aksel (RZ9653). T1 og T2 smørenipler på ombytnings håndled Motoman RBT-aksel (RZ9653) er smurt med smørefedt (RZ9616). Med venlig hilsen A/S S.A. CHRISTENSEN & CO. Anders Kejlstrup Nielsen Vedlagt: S50 05.500GB RDS FUTURELINE, Change of RBT axle Motoman
S50 05.500GB RDS FUTURELINE Change of RBT axle Motoman DK 6000 Kolding TEL: +45 75 52 36 66 17000032082-003 www.sacmilking.com sac@sacmilking.com 16.10.14
S50 05.501GB The product and/or service information set forth in this document may be outdated, may contain errors and omissions, and is subject to change without notice. No statement, representation or other information contained in this document should be construed as binding upon S. A. Christensen & Co. contractually or otherwise the basis for any express or implied warranty. In no event shall S. A. Christensen & Co. be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document. This document and parts thereof may only be reproduced by official dealers from S. A. Christensen & Co. This document must not be imparted to a third party nor be used for any unauthorized purpose. Documents may only be translated with the written permission of S. A. Christensen & Co. All efforts have been made to ensure the accuracy of the contents of this manual. However, should any errors be detected, S. A. Christensen & Co. would greatly appreciate being informed of them. All correspondence regarding copyrights, translations or any other matter can be directed to: S. A. Christensen & Co. Nordre Havnevej 2 6000 Kolding Denmark 13000016364 09.09.08
REPLACING RBT AXLE INDUSTRIAL MOTOMAN ROBOTARM S50 05.510GB Description Certain circumstances can cause slack on the robotic arm, occasionally, the robot has difficulty to hold certain positions. In these cases it is necessary to replace the RBT axle. Please note that the safety restrictions at work are respected.! Procedure: Follow the next steps to replace the B-axle. Jog the B-axle in a position in which the Attachtool is in a horizontal position. Use the teach pendant. Switch of the robot controller and make sure the UPS remains powered by an external power supply. Remove Attachtool: Remove the bracket for the benefit of the hose guide (4 bolts). Remove the attach tool (8 bolts) and set it aside. Remove covers R-axle: Disassemble the cover on both sides of the R-axle (24 bolts). Unscrew the bracket of the cable harness (2 bolts). Remove electromotors: Detach the connector from the electro motors and disassembled the electro motors (2 bolts per motor). Take notice how cables run because of reattachment of the motors. 13000016365 09.09.08
REPLACING RBT AXEL INDUSTRIAL MOTOMAN ROBOTARM S50 05.511GB Remove RBT axle Motoman: Disassemble the RBT-axle Motoman by removing the 8 bolts. Remove the rubber seal. Then the different parts such as covers and housing needs to be cleaned and free of grease. Mount new RBT axle Motoman: Mount the refurbished RBT-axle Motoman (Item no. RZ9653) Plug the connectors back together and tape them in. Slide back the plastic tulle on the connectors. Mount Electromotors: Mount back the motors (Item no. RZ9613) by stabbing them in to the housing (in an angle). Mount the tooth belt (Item no. RZ9600 and RZ9601) and tighten the motors with the appropriate bolts (2 per motor). Note the correct tension of the toothed belts. Bundle wiring with pull straps on the appropriate support bracket and put it back in position. Testing: Turn on the robot controller back on. Remove the external power from the UPS. Reset alarm on teach pendant. Go in Maintenance mode (3 keys). Check whether the B and T can jog. Mount covers: Mount the sider covers (Item no. RZ9632) with liquid gasket sealing (Item no. RZ9614) back to the cleaned robotic arm (24 bolts). 17000032085-002 16.07.14
REPLACING RBT AXLE INDUSTRIAL MOTOMAN ROBOTARM S50 05.512GB Jogging: Jog the B and T axle to their brand lines, and fine adjust the position like shown at the picture with 2 level meters. On the teach pendant: main menu> robot> home position and select the round mark at the B-axis Press: Select> create new home position> yes. Turn the R-Axle like shown at the picture bellow and fine adjust the position of the T-axle with 2 level meters. On the teach pendant: main menu > robot > home position and select the round mark at the T-axis Press: Select> create new home position> yes. 13000016367 09.09.08
REPLACING RBT AXLE INDUSTRIAL MOTOMAN ROBOTARM S50 05.513GB Attachtool: Mount the attachtool and the hose guide bracket back to the robotic arm. Check all positions and adjust them if necessary (also UF (user frame)). Back-up: Make sure all settings are correct, make a new backup on the flashcard of the robot and keep it in a safe place. Materials: To perform the work as described above the following tools and materials are needed: Description Order number RBT Axle Motoman RZ9653 Set Allen keys Countersunk head screw with hexagon PB3002 Degreaser Liquid gasket EZ9614 Tape Ty-wraps 17000032087-003 16.10.14