HORST900
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      Replace encoder 3 - H900

      This article describes how to replace the encoder on axis 3 of the Horst 900.

      DANGER!

      Danger resulting from incorrect commissioning

      ⇒ Commissioning must be performed only by persons with technical and electrotechnical training who were also authorized by fruitcore robotics!
      1. Load the program to move the robot to the default position. Before executing the program, make sure that the robot is in a position in which no collision can occur.
      2. Open the housing of encoder 3 by loosening the three countersunk screws. Remove the plug connections.
      3. Loosen the 1 mm grub screws on the encoder socket and remove the defective encoder.
      4. Loosen the fixing screws of the encoder and carefully pull it off.
      5. Place the new encoder on the shaft and tighten the fastening screws.
      6. Now tighten the clamping screws. Make sure that the encoder is fully seated.
      7. Plug the encoder back in and attach the cover.
        Ensure that the two lower screws are only fitted.