How to replace the main cable for the r-2000i series robot?

 

The main cable of r-2000i robot is replaced. The main cable of this model is divided into power cable and encoder cable, and the replacement method is similar.

Tool list:

Hexagon wrench set, diagonal pliers, phillips screwdriver, one word screwdriver, fish nose pliers, needle withdrawal device, nylon tie belt

Safety supplies in operation:

Safety helmet, safety padlock, gloves, safety shoes

 

Disassembly steps:

1. Put the robot in the position of 0 degree of all axes (or other positions in special cases), make MC backup and mirror backup, and then disconnect the power supply of the control cabinet

2. Remove the cables from the side of the control cabinet from the wiring board on the base of the robot

3. Remove wiring board

4. Separate the cable from the housing

5. Remove the battery box terminal

6. Remove the internal grounding terminal of the J1 base

7. Separate the main cable plug completely

8. Remove the cover plate of j1-j2 shaft encoder plug, and then remove the encoder plug of each shaft. (removing the encoder plug will lead to zero position. Do not remove the encoder plug unless replacing the motor, encoder, reducer or cable.)

9. Remove power connector of cable shaft

10. Remove brake connector of cable shaft

11. Remove cover plate from J2 shaft base

12. Remove cover plate for side clamping cable on J1 shaft

13. Remove the plate in the J1 shaft base and remove the bolts that hold the cable clip

14. Pull the body hardin head out of the pipe section of the J1 base

15. Remove J2 shaft side plate retaining bolt

16. Remove the cover plate of the J2 axis manipulator

17. Remove cable clamp cover plate

18. Remove the cable protection cloth

19. Remove the front wiring board of the J3 shaft housing

20. Remove the left cover plate of the J3 axle housing 1

21. Remove the left cover plate of the J3 axle housing 2

22. Remove the right wiring board of J3 axle housing

23. Run the j3-j6 shaft cable through the casting hole and pull it to the front side

Then cut the bundle tightly to the nylon tie that plans to replace the cable, thereby removing the cable.

 

Installation steps:

1. Fasten the cable with nylon binding belt, and fix the cable on the J2 shaft arm with bolts.

2. Install the cover plate onto the J2 arm.

3. The new cable is marked with yellow tape where it needs to be fixed and tightened. Fix and tighten the binding belt according to the mark. If the binding is done after or before, it will cause the following line to be not smooth.

4. Fasten the cable with a tie belt, fix the upper side cover plate of J1 shaft on the base of J2 shaft.

5. Install side cover plates.

 

6. Run the cable through the bottom side of the balance cylinder, pay attention to cable dressing, avoid mutual interference between the cable and the balance cylinder.

7. Run the cable through the J1 shaft pipe hole.

8. Pull it to the back of the J1 shaft base and secure the cable with nylon tie tape at the online clip.

9. If the main encoder cable is to be replaced, the short connector (overshoot signal) of pin no. 30 and no. 37 needs to be removed with a pin remover and installed into the new cable.

10. Fix the hardin head on the wiring board, connect the ground wire well, and the battery box cable well (pay attention to the positive and negative poles, not the reverse).

11. Pass the j3-j6 shaft motor plug through the casting hole from the side of the J3 shaft housing.

12. Fix the j3-j6 shaft cable on the mounting plate.

13. Install each cover plate of the J3 shaft housing.

14. Connect the motor encoder, brake and power connector of each shaft. Install the encoder protection plate of shaft j1-j2.

15. Check whether the bolts of each cover plate are complete and tightened.

Finally, power on, recalibrate the zero position of the robot, and check whether the robot is normal.