Fanuc Robot 32i

Unlatch the card PCB by pulling the claws on the two spacers outward

Check that the metal fittings of the spacers are raised

Align the card PCB insertion position by touching the spacer fixing end faces of the card PCB with the spacers

While aligning the card PCB with the spacers, lower the connector side slowly then cause the connectors to touch each other

Push the connector side of the card PCB slowly

Push in the spacer metal fittings

Check the value on the diagnostics data No. 356 (for a built-in detector) or 357 (for a separate detector) of the CNC unit

Check whether the feedback cable is not disconnected and whether the connector is properly plugged

Remove the four M4 hexagon socket head cap screws fastening the Pulsecoder. The M3 bolts fastening the Pulsecoder cover do not need to be loosed

Remove the Pulsecoder and Oldham's coupling

Set the new Pulsecoder and Oldham's coupling on the motor. Adjust the direction of the mate Oldham's coupling to that of the Oldham's coupling so that the teeth are engaged. Push in the Pulsecoder until the O ring fits in the joint between the motor and Pulsecoder

Fastening the Pulsecoder with the four M4 hexagon socket head cap screws in the reverse order of removing the Pulsecoder

Feedback cable plugging procedure

Check the plugging side and key direction. Check that the plugging side is free of foreign matter, such as dirt and oil

Open the claw of the socket outward. (Fig. a)

Extract the module slantly upward. (Fig. b)

Insert the module slantly into the module socket, with side B facing upward. (Fig. b)

Push the module downward until it is locked. (Fig. c) At this time, push it down with pushing two points of (*) in the figure.

Sign off on the From/Sram Module Maintenance

Remove each cable from the control unit

Detach the two screws in the lower section of the case unit from the main board

Pull out the case unit while unlatching the claws from the metal bases on both sides in the upper section of the case unit

Remove the cable from each connector on the main board and remove the screws fastening the main board

Detach the main board by pulling it down

Move the cards and modules from the detached main board to another (replacing) main board, attach the replacing main board

Connect the main board to the inverter board and fasten it with screws. Re-attach each cable to the main board

Place the case in such way that its screws and latches align with their positions, and push it in slowly

Attach the control unit to the cabinet. Re-attach the cables to the control unit

Warning: Ensure the device is powered off before starting the procedure

Screws from the lower section of the case unit removed

Case unit unlatched from the upper section

Cable detached from each connector on the main board

Main board moved to the replacing LCD unit