HORST900
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      Replace support arm 1-3 - H900

      This article describes how to replace support arms 1 to 3 on 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!

       

      Spare parts required:

      support arm 1 

      PP000076

      support arm 2

      PP000128

      support arm 3

      PP000184
      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. Shut down the robot and disconnect it from the mains. Loosen all screws on the swivel arm cover and remove it carefully.
      3. Disconnect the plug connections of the bus and encoder cables that lead to the defective support arm.
      4. Open the housing of encoder 3 by loosening the three countersunk screws. Then remove the plug connections underneath.
      5. Loosen the 1 mm grub screws on the encoder socket and remove the defective encoder.
      6. Loosen the fixing screws of the encoder and carefully pull it off.
      7. Remove the screws from the motor driver cover and disconnect the underlying plug connections of the encoder and the motor supply cable.
      8. Remove the motor driver and fold the black cover upwards.
      9. Loosen all screws on the cover of support arm 1 and remove them carefully.
      10. Secure the support arm before folding it down and release the connecting bolt. Pull the linkage out to the rear.
      11. Carefully loosen the screws on both wings. The support arm is now free and can be removed upwards.
      12. The defective support arm has now been dismantled.
      13. When fitting, make sure that the diaphragm spring with the funnel is pointing towards the linkage.
      14. Insert the new support arm and screw the wings together on both sides. Thread the linkage into the rear part of the support arm and insert the bolt.
      15. Place the encoder 3 on the shaft and screw it on carefully.
      16. Tighten the clamping screws of the encoder socket.
      17. Reconnect the encoder and screw on the cover.
      18. Connect the encoder and motor to the driver unit and screw the unit to the support arm.
      19. Reconnect the bus and encoder cables.
      20. Fit the swivel arm and support arm cover.
      21. Test the robot to ensure that it is working properly. Make sure that all movements of the robot run smoothly and safely.