How to Install the NXB-SRV-STP113-001 Stepper Motor on C-Series and S-Series Robots

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Tools Required

• Calibrated torque wrench (up to 15 Nm)
• Metric hex key set (including M6)
• ESD wrist strap
• Lockout/Tagout kit
• Lint-free cloths

Article

This guide details the proper procedure for installing the NXB-SRV-STP113-001 Stepper Motor (3.2 Nm) in NexBot C-5, C-10, and S-5 series robots. This motor is typically used for wrist and flange motion on the J5 and J6 axes, providing precise, open-loop positioning. Following these instructions ensures the component is installed safely and functions according to its specifications.

Prerequisites

Before beginning the installation, ensure you have met the following requirements. Failure to do so can result in equipment damage or personal injury.

Safety Precautions:

• The robot must be completely powered down.
• A full Lockout/Tagout (LOTO) procedure must be performed on the robot's main power disconnect before starting any work.
• Use an Electrostatic Discharge (ESD) wrist strap connected to a verified ground point on the robot chassis to prevent damage to sensitive electronics.

Required Parts:

• 1x NXB-SRV-STP113-001 Stepper Motor
• 1x Motor Mounting Hardware Kit (Recommended: NXB-MNT-813-001, contains M6 bolts and washers)
• 1x Motor Power/Control Cable (NXB-CBL-512-001)

Robot State:

• The robot arm should be resting in a safe, stable position. If replacing an existing motor, ensure the end-of-arm tooling (EOAT) is removed and the affected joint is properly supported to prevent unexpected movement.
• The mounting surface on the robot joint must be clean, dry, and free of any debris, oil, or old gasket material.

Step-by-Step Instructions

Follow these steps carefully to ensure a correct and secure installation.

Step 1: Prepare the Mounting Location

1. Verify that the robot is in a LOTO state.
2. Carefully inspect the mounting flange on the robot axis (J5 or J6). Use a lint-free cloth and an appropriate solvent to clean the surface, ensuring a flush fit for the new motor.
3. Unpack the NXB-SRV-STP113-001 motor and inspect it for any signs of shipping damage. Do not install a damaged component.

Step 2: Mount the Motor

1. Carefully align the motor's shaft with the corresponding gearbox or drive coupling on the robot joint. Ensure any keyways or splines are properly aligned.
2. Align the motor's mounting holes with the threaded holes on the robot's mounting flange. The motor has a standard NEMA 34 bolt pattern.
3. Insert the four M6 mounting bolts (from kit NXB-MNT-813-001) through the motor mounting holes and into the flange. Hand-tighten them to secure the motor in place.
4. Using a calibrated torque wrench, tighten the bolts in a star or cross pattern to ensure even pressure. Tighten each bolt to a final torque value of 10 Nm (7.4 ft-lbs).

Step 3: Connect Electrical Cables

1. Locate the robot's wiring harness connector for the target joint (J5 or J6).
2. Take the appropriate motor cable (e.g., NXB-CBL-512-001) and connect it to the integrated connector on the NXB-SRV-STP113-001 motor body.
3. Ensure the connector is fully seated and the locking mechanism clicks into place to prevent disconnection from vibration.
4. Route the cable along the designated path on the robot arm, securing it with the existing cable management clips. Ensure the cable has enough slack to allow for the full range of motion of the joint without being stretched or pinched.

Step 4: Final Mechanical Checks

1. Gently attempt to move the motor by hand to ensure there is no play or looseness at the mounting flange. It should be completely rigid.
2. Visually inspect the cable routing one last time to confirm it is secure and free from any potential pinch points.
3. Remove all tools, parts, and cleaning materials from the work area.

Verification

After the physical installation is complete, perform the following steps to verify functionality.

1. Power On Sequence: Following all safety protocols, remove the LOTO devices and power on the robot controller. The system should boot up without any immediate axis-related faults.
2. Jogging the Axis: Using the teach pendant and in a slow manual mode (e.g., 10% speed), carefully jog the axis where the motor was installed (J5 or J6).

• Watch for smooth, controlled motion.
• Listen for any unusual sounds such as grinding, clicking, or excessive whining, which could indicate misalignment or a faulty motor.

1. Homing Routine: Execute the robot's standard homing procedure. The new motor should drive the axis to its home position accurately. A successful homing routine confirms that the motor and any associated encoder signals are being correctly interpreted by the controller.
2. System Check: Check the controller's log files for any new warnings or errors related to the motor drive system. If no errors are present and the axis moves correctly, the installation is successful.

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