Epson SCARA ROBOT User Manual

Maintenance 6. Arm #2
132 G6 Rev.21
6.1 Replacing Joint #2 Motor
Name
Quantity
Note
Maintenance
Parts
AC Servo Motor (400W) 1
R13B000607
R13B000616
(For S/N
：
1**** or later)
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
Nippers
1
For cutting wire tie
Wiping cloth
1
For wiping grease
Material
Wire tie
4
Grease
Grease (SK-1A)
6 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 is applied to bo
th Joints #3 and #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
(Joint #4 brake is installed to G6-**3** only.)
Be careful of the
shaft falling and rotating 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)
Disconnect the connectors X22, X33
connected to the arm top cover.
(6)
Cut off the wire tie used for binding the motor cables to the Joint #2 motor.
(7)
Disconnect the connectors.
Connectors X221, X21 (Hold the claw to remove.)
Connector X62
(8)
Remove the spring plate.
2-M4×10
Spring plate

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English