How to Install the NXB-SRV-STP113-005 NEMA 23 Stepper Motor

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Tools Required

• Torque wrench (0-10 Nm range)
• Hex key set (metric)
• Wire stripper/crimper
• Digital multimeter
• Safety glasses
• Lockout/Tagout kit

Article

This article provides detailed instructions for the replacement and installation of the NexBot Robotics STP113-005 NEMA 23 Stepper Motor (SKU: NXB-SRV-STP113-005). This motor is commonly used for auxiliary axes, such as J4 and J5, on various NexBot collaborative and SCARA robot models.

Following these procedures carefully is essential to ensure proper functionality and maintain the safety and integrity of the robotic system.

Prerequisites

Before beginning the installation, ensure you have the following:

• Safety Compliance: The robot must be powered down and a full Lockout/Tagout (LOTO) procedure must be in effect. Only qualified technicians should perform this procedure.
• Correct Part: Verify you have the correct replacement part: NXB-SRV-STP113-005. Check the part number on the motor's label.
• Robot Position: The robot arm should be moved to a safe, stable position, preferably its home or a designated maintenance position, before power-down.
• Required Tools: Gather all necessary tools as listed in the 'Tools Required' section of this document.
• Documentation: Have the specific wiring diagram for your robot model available for reference.

Step-by-Step Instructions

Step 1: Safety and Preparation

1. Confirm the robot is powered OFF at the main disconnect.
2. Apply your personal lock and tag to the main disconnect as per your facility's LOTO procedure.
3. Verify there is no stored electrical energy by attempting to power on the controller. It should not respond.
4. Remove any tooling or workpieces from the robot's end-of-arm tooling (EOAT) to prevent unexpected movement.

Step 2: Access the Motor Mount

1. Identify the axis requiring the motor replacement (J4 or J5).
2. Carefully remove the necessary access panels or joint covers to expose the motor. These are typically secured with hex screws. Keep all hardware organized for reassembly.

Step 3: Disconnect and Remove Old Motor

1. Locate the motor's power and encoder cable connector. If it is a hard-wired model, note the wire order before disconnection.
2. Carefully disconnect the cable from the motor. Do not pull on the wires; use the connector housing.
3. Loosen the four mounting screws that secure the motor to the joint housing. Use a cross pattern to loosen them incrementally.
4. Once all screws are removed, carefully slide the motor out of its mounting position. Be aware that the motor shaft may be coupled to a gearbox or pulley; gently disengage it.

Step 4: Mount the New NXB-SRV-STP113-005 Motor

1. Unbox the new NXB-SRV-STP113-005 motor and inspect it for any signs of shipping damage.
2. Align the motor shaft with the drive coupling or pulley. Ensure the keyway, if present, is correctly aligned.
3. Slide the motor into the mounting flange, ensuring the mounting holes are aligned.
4. Insert the four M5 mounting screws and hand-tighten them.
5. Using a calibrated torque wrench, tighten the screws in a star or cross pattern to a final torque of 4.5 Nm. This ensures even pressure on the mounting face and prevents misalignment.

Step 5: Connect Wiring

1. Connect the motor cable to the new motor. Ensure the connector is fully seated and locked in place.
2. Refer to your robot's specific wiring diagram to confirm the pinout is correct if you are terminating wires manually.
3. Secure the cable using any integrated cable management clips to prevent strain on the connector during robot motion.

Step 6: Reassemble Robot Covers

1. Reinstall all access panels and joint covers that were removed in Step 2.
2. Ensure all screws are secured properly, but do not overtighten plastic covers.

Verification

Step 1: Power On

1. Clear the work area of all tools and personnel.
2. Remove your lock and tag from the main disconnect.
3. Power on the robot controller.
4. Check the teach pendant or control interface for any new error codes. Address any faults before proceeding.

Step 2: Jog the Axis

1. Set the robot to a low speed (e.g., 10% or less).
2. Using the teach pendant, manually jog the affected axis (J4 or J5) in both the positive and negative directions.
3. Listen for any unusual noises, such as grinding or binding. Watch for any jerky or hesitant motion. The movement should be smooth.

Step 3: Homing and Program Test

1. Execute the robot's standard homing procedure. Verify that the new motor and its associated axis home correctly.
2. If the home position appears to have shifted, a recalibration of the axis may be required. Refer to the robot's service manual for the mastering/calibration procedure.
3. Load and run a simple, slow-speed program that exercises the new motor to confirm it performs as expected under operational conditions.

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