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FX-3R Maintenance Guide 2-7 2-2. Replacing the Motor 2-2-1. Replacing the Z-Motor After the Z motor has been replaced, it is absolutely necessary to re-input the MS parameters related to the Z-axis home position adjustme…

FX-3R Maintenance Guide

2-6

[Connection destinations of θ-motor cable connectors to be connected to ZT-driver PCB]

∗ Each connector is described by relevant head No.

Axis 1

Axis 2

Axis 3

Axis 4

θ5　θ6

Z5　 Z6

θ3　θ4

Z3　 Z4

θ1　θ2

Z1　 Z2

θ１

Ｚ１

θ２

Ｚ２

θ３

Ｚ３

θ４

Ｚ４

θ５

Ｚ５

θ６

Ｚ６

Axis 1

Axis 2

Axis 3

Axis 4

θ5　θ6

Z5　 Z6

θ3　θ4

Z3　 Z4

θ1　θ2

Z1　 Z2

θ２

Ｚ２

θ１

Ｚ１

θ４

Ｚ４

θ３

Ｚ３

θ６

Ｚ６

θ５

Ｚ５

Axis 1

Axis 2

Axis 3

Axis 4

θ5　θ6

Z5　 Z6

θ3　θ4

Z3　 Z4

θ1　θ2

Z1　 Z2

θ５

Ｚ５

θ６

Ｚ６

θ１

Ｚ１

θ２

Ｚ２

θ３

Ｚ３

θ４

Ｚ４

Axis 1

Axis 2

Axis 3

Axis 4

θ5　θ6

Z5　 Z6

θ3　θ4

Z3　 Z4

θ1　θ2

Z1　 Z2

θ２

Ｚ２

θ１

Ｚ１

θ４

Ｚ４

θ３

Ｚ３

θ６

Ｚ６

θ５

Ｚ５

∗ Connect the θ-motor power cables and θ-motor encoder cables while referring to the Figure

below.

Figure 2-1-1 Z/θ-Driver and Motor Layout Relationship Diagram

When Viewed from Software

Rev. 1.00

FX-3R Maintenance Guide

2-7

2-2. Replacing the Motor

2-2-1. Replacing the Z-Motor

After the Z motor has been replaced, it is absolutely necessary to re-input the MS parameters

related to the Z-axis home position adjustment, Z-axis height, and laser.

(For details of input items, see section 2-7.)

1) Disconnect the Z-motor

cables from the power

connector base and

Z-encoder relay board.

(See also steps 2), 4), 5),

and 7) stated in section

2-1.)

Figure 2-2-1-1 Z-motor Assembly (Top View)

c SM8030312TP

Set screw M3 L=3

d SL6031692TN

SEMS cap bolt with

washer M3×16

40044534

Servomotor 30W

(Z-axis)

2) Loosen the hollow set screws c (×2) of the Z-motor pulley.

3) Remove the SEMS cap bolts d (×3) mounting the motor. Detach the Z-motor by pulling out the

pulley.

4) Reassemble the components in the reverse order of disassembly, and adjust the belt tension

as the last step.

Timing belt Z

Pull by the

force of 21.6N

(2.2kgf)

Figure 2-2-1-2 Timing Belt Z

c Put the screw in the tap of the Z-motor and lock the

mounting screw with the screw pulled in the direction

indicated by an arrow with a force of 21.6 N (2.2 kgf)

using a tension gauge.

Tension meter set value (For check)

• Tension meter input value

Weight: 0.9g/m Width: 8.0mm Span: 45mm

• Specification value: 10.5±1N

∗ Apply Loctite 242 to the Z-motor mounting screws

(3 pcs.) and tighten them with a tightening torque of

2.3 N･m.

∗ When tightening the setscrew of the Z-motor pulley, make sure to align the orientation of the

flat part of the Z-motor shaft and the setscrew of the pulley. Tighten the setscrew with a torque

of 0.5 N･m.

When the Z-motor pulley is secured at a position where

the marking on the shaft is located at 2-o’clock position

as shown in the figure on the left or the shaft D cut

surface is located at a position as shown in the figure

with the Z-axis raised to its uppermost position, this

becomes the conditions for item d.

Figure 2-2-1-3 Z-motor Pulley Assembling Method

Rev. 1.00

FX-3R Maintenance Guide

2-8

d After the Z-axis motor has been assembled, obtain the PWB top surface height of the MS

parameter.

If this value does not fall between −2 and +2mm, readjust the positional relationship of the

Z-motor axis and the ball screw, obtain the MS parameter again, and check to make sure that

the PWB top surface height falls between −2 and +2mm.

Stroke for one

rotation of the

Z-axis ball screw

6 mm

−

2 to

2 mm

Stable area

Z-phase signal of the

Z-motor encoder

Figure 2-2-1-4 Z-phase signal of the Z-motor encoder

【Origin Return Operation】

The Z-axis is rotated upward to make it in contact with the stopper. After that, when the torque

generated by the motor reaches the set torque threshold value, the Z-axis is rotated downward

and the 1st Z-phase is determined to the origin.

Rev. 1.00