SO 101

Prepare for replacement

Complete the approved power-isolation procedure before starting maintenance. Confirm that the replacement servomotor matches the installed servo voltage and specification.

Identify servomotor 5 between servomotors 4 and 6. Note the cable routing and the fitted orientation of the wrist and jaw parts before disassembly.

Disconnect servomotor 5 wiring

Disconnect the cables between servomotors 4 and 5 and between servomotors 5 and 6 at servomotor 5. Keep track of each connection for refitting.

Release the gripper servomotor

Remove the fasteners securing servomotor 6 to the lower jaw/wrist-roll part. Leave the moving jaw attached to servomotor 6.

Move the gripper clear

Gently pull servomotor 6 out of the lower jaw/wrist-roll part, leaving the moving jaw attached. Set the gripper assembly aside to expose the wrist-roll attachment to servomotor 5.

Remove the lower-jaw attachment screws

Remove the four highlighted screws securing the lower jaw/wrist-roll part to servomotor 5. Retain the screws for reassembly.

Remove the lower jaw

Remove the lower jaw/wrist-roll part from servomotor 5 to expose its output washer and retaining screw. Retain the part and its nuts for refitting.

Remove the servo retaining hardware

Remove the highlighted retaining screw and the output washer from servomotor 5. Remove the two highlighted mounting screws securing the servo body to its wrist support. Retain the hardware and note the washer orientation.

Remove servomotor 5

Remove servomotor 5 from its wrist support.

Install the replacement servomotor

Fit the replacement servomotor 5 into the wrist support in the same orientation as the removed servo.

Refit the servo retaining hardware

Refit the output washer in its recorded orientation and install the retaining screw. Refit the highlighted servo-body mounting screws.

Refit the lower jaw

Put the lower jaw/wrist-roll part back on servomotor 5 in its original orientation.

Secure the lower jaw

Refit the four highlighted screws securing the lower jaw to the washer and servomotor 5.

Refit and secure the gripper

Refit servomotor 6 with the moving jaw still attached. Restore its retaining nuts and fasteners to their original positions and secure it to the lower jaw/wrist-roll part.

Reconnect the wiring

Reconnect the cable from servomotor 4 to servomotor 5 and the cable from servomotor 5 to servomotor 6. Restore the recorded cable routing.

Inspect before return to service

Verify that the cable between servomotors 4 and 5 is secure and undamaged, the connector at servomotor 5 is well attached and in good condition, and the cable between servomotors 5 and 6 is secure and intact.

Check all six servomotor connectors, all inter-motor cables, and the servomotor-driver connector at the base for secure attachment and damage before returning the arm to service.

Calibrate and verify movement

After mechanical and wiring checks, restore power and the host connection using the approved startup procedure.

Open the WebUI calibration workflow and select the replaced joint. Capture its minimum position, home/resting position, and maximum position using the three-point workflow.

Use the workflow's 30% torque cap and smooth interpolation. Run Safe Test Home and complete the movement check before selecting Save Calibration.

Install printed and mechanical parts

Install the printed and mechanical parts before making the servo daisy-chain connections.

Connect the first servomotor to the PCB

Plug the first servomotor into the PCB.

Connect the first servomotor to the second servomotor

Plug the first servomotor into the second servomotor.

Connect the second servomotor to the third servomotor

Plug the second servomotor into the third servomotor.

Connect the third servomotor to the fourth servomotor

Plug the third servomotor into the fourth servomotor.

Connect the fourth servomotor to the fifth servomotor

Plug the fourth servomotor into the fifth servomotor.

Connect the fifth servomotor to the sixth servomotor

Plug the fifth servomotor into the sixth servomotor.

Inspect the first servomotor connector

Inspect the first servomotor connector for secure attachment, wear, and damage.

Inspect the cable between the first and second motors

Inspect the cable between the first and second motors for correct connection and damage.

Inspect the second servomotor connector

Inspect the second servomotor connector for secure attachment and condition.

Inspect the cable between the second and third motors

Inspect the cable between the second and third motors for secure connection and damage.

Inspect the third servomotor connector

Inspect the third servomotor connector for security and visible defects.

Inspect the cable between the third and fourth motors

Inspect the cable between the third and fourth motors for a tight connection and intact cable condition.

Inspect the fourth servomotor connector

Inspect the fourth servomotor connector for proper connection and visible damage.

Inspect the cable between the fourth and fifth motors

Inspect the cable between the fourth and fifth motors for secure connection and damage.

Inspect the fifth servomotor connector

Inspect the fifth servomotor connector for secure attachment and condition.

Inspect the cable between the fifth and sixth motors

Inspect the cable between the fifth and sixth motors for secure connection and intact cable condition.

Inspect the sixth servomotor connector

Inspect the sixth servomotor connector for security and defects.

Inspect the servomotor driver connector at the base

Inspect the servomotor driver connector at the base for secure attachment and damage.

Inspect First Motor Connection

Inspect First to Second Motor Cable

Inspect Second Motor Connection

Inspect Second to Third Motor Cable

Inspect Third Motor Connection

Inspect Third to Fourth Motor Cable

Inspect Fourth Motor Connection

Inspect Fourth to Fifth Motor Cable

Inspect Fifth Motor Connection

Inspect Fifth to Sixth Motor Cable

Inspect Sixth Motor Connection

Inspect Servomotor Driver Connection

Unscrew the Initial Set of Screws

Unscrew the Remaining Screws

Remove the Moving Jaw

Remove the wiring on the servomotor

Replace the servomotor

Wire the new servomotr

Install the Moving Jaw

Screw the Moving Jaw

Screw the Moving Jaw

Put the Base in place

Put in place the first servomotor

Screw the servomotor in the Base

Put in the servomotor cover in place

Screw the cover of the servomotor

Put in place the rotation pitch part

Screw the Rotation Pitch

Screw the Rotation Pitch

Assemble the cover of the Rotation Pitch

Put in place the second servomotor

Screw the second servomotor

Assemble the arm

Screw the first set of screws

Screw the second set of screws

Put in place the third servomotor

Screw the third servomotor

Assemble the second arm

Screw the first set of screws

Screw the second set of screws

Assemble the part as shown

Put in place the fourth servomotor

Screw the fourth servomotor

Put in place the part as shown

Screw the part as shown

Screw the part as shown

Put in place the fifth servomotor

Add the washer

Screw the fifth servomotor

Put in place the lower jaw

Screw the jaw to the washer and servomotor

Screw the jaw to the washer and servomotor

Put in place the nuts

Put in place the sixth servomotor

Screw the sixth servomotor

Put in place the upper jaw

Screw the upper jaw

Screw the upper jaw

Assemble the PCB

Plug the first servomotor to the PCB

Plug the first servomotor to the second servomotor

Plug the second servomotor to the third servomotor

Plug the third servomotor to the fourth servomotor

Plug the fourth servomotor to the fifth servomotor

Plug the fifth servomotor to the sixth servomotor