Fanuc Robot S-420iW/2.85

1) Replacing J1--axis motor (Fig. 6.2 (a) )

2 Remove the J1--axis motor connectors. (For the S--420i R, remove the cover from the J2 angle base.)

3 Remove four motor mounting bolts (M12×35) and then remove the motor.

4 Remove the nut and gear in order.

5 Replace the motor, and remount a new motor reversing above procedure. Polish the motor flange with oil stone. Apply LOCTITE No. 242 to the thread of the nut. Be careful not to damage the tooth surface of the spur gear. Install an O ring correctly.

6 Perform mastering (Refer to section 5.3).

2) Replacing J1--axis reducer (Fig. 6.2 (b) )

Warning: Ensure the power is turned off before starting the procedure

Ventilation plug for J5-axis removed

New grease applied from the grease inlet until it comes out from the grease outlet

Plug at the grease outlet remounted

Sign off on the grease replacement

Upload a photo of the replaced filter element

Sign off on the filter element replacement

1) Replacing J6--axis motor (M6)

1 Remove loads from the robot’s wrist such as a hand and workpieces.

2 Turn off the power at the position of J5=--90 degrees.

3 Remove the cover, motor cover and cable connectors.

4 Remove J5--axis cover 2, a plate, a grommet and a clamp. (Do not remove plate and Teflon sheet attached to the J5--axis cover 2).

5 Remove rubber block mounting bolts and take out the cable.

6 Remove four bolts (M8×22) for mounting themotor, then remove the motor.

7 Remove the nut, input gear and the draw bolt.

8 Replace the motor with a new one. Reassemble the removed components. Polish the motor flange with oil stone. Apply Locktite No. 242 to the threaded portion of the motor shaft. Be sure to mount the O--ring at the appropriate position. Pay special attention so as not to scratch the tooth face of the input gear. Use new motor mounting sealbolts.

1) Replacing J5--axis motor (M5)

1 Remove loads from the robot’s wrist such as a hand and workpieces.

3 Remove the J5--axis cover, the connector of the J5--axis motor (M5), then the plate. Cut the nylon cable tie. (See Section 8.2, ”Replacing the Cables.”)

4 Remove the bolt (M12 x 40) for mounting the motor, then remove the motor.

5 Remove the draw bolt and spline from the motor shaft.

6 Replace the motor with a new one. Also replace the O--ring (as a precaution). Reassemble the removed components. Be sure to mount the O--ring at the appropriate position. Use new motor mounting sealbolts. (In case of reusing sealbolts, apply LOCTITE No.242 to them. (Refer to section 6.1) Fasten the excess part of the cable to the plate with a nylon tie. See 8.2 for an explanation of how to lay the cable.

7 Apply grease to the reducer (Refer to section 3).

8 Perform mastering (Refer to section 5.3).