Epson G3 Series User Manual

Maintenance 6. Arm #2
G3 Rev.14 113
6.1 Replacing Joint #2 Motor
Name
Quantity
Note
Maintenance
Parts
AC Servo Motor (150W) 1 R13B000615
Tools
Hexagonal wrench
width across flats: 2 mm
1
For M4 set screw
width across flats: 3 mm
1
For M4 screw
width across flats: 4 mm
1
For M5 screw
Torque wrench
1
Nippers
1
For cutting wire tie
Wiping cloth
1
For wiping grease
Material
Wire tie
4
Grease
Grease (SK-2)
3 g
Joint #2 motor
Removal
(1)
Turn ON the
Controller.
(2)
Push down the shaft to its lower limit while pressing the brake release switch. Be
sure to keep enough space and prevent
the end effector hitting any
peripheral
equipment.
The brake release switch affects only Joint #3. When the brake release switch is
pressed, the brake for the Joint #3 is released simultaneously.
Be careful of the
shaft while the brake release switch is being pressed because
the
shaft may be lowered by the weight of an end effector
.
(3)
Turn OFF the Controller.
(4)
Remove the arm top cover.
For details, refer to Maintenance: 3.1 Arm Top Cover.
(5)
Remove the battery board.
(6)
Remove the user plate.
(7)
Cut off the wire tie used for binding the cables connected to the user cable.
(8)
Cut off the wire tie
used for binding the motor cables to the Joint #2 motor.
(9)
Disconnect the following connectors.
Connectors X221, X21 (Hold the claw to remove.)
Connector X62
(10)
Remove the Joint #2 motor unit from Arm #2.
If the motor cannot be
removed easily, pull it out
while moving Arm #2 slowly by
hand.
Also, the motor
flange touches the intermediate
pulley and you cannot pull the motor straight
upward. Therefore, tip the motor and pull it
avoiding he intermediate pulley.
3-M4×12

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English