Epson SCARA ROBOT User Manual

Maintenance 7. Arm #3
144 G6 Rev.21
Z belt
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 both Joints #3 and #4. When the brake release
switch is pressed, the
respective
brakes for Joints #3 and #4 are released
sim
ultaneously. (The brake for Joint #4 is only installed to G6-**3**.)
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 Controll
er.
(4)
Remove the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(5)
Cut off the wire tie used for binding the motor cables to the Joint #3 motor.
(6)
Disconnect the following connectors.
Connectors X231, X31 (Hold the claw to remove.)
Connector X32, X63
(7)
Remove the Joint #3 motor unit from Arm #2.
4-M4×12
+ Washer
Joint #3
motor unit
(8)
Remove the Z belt.
Remove the bolts securing the spline plate
and
pull out the
spline plate upward to remove it.
3-M4×12
Z belt
Spline plate

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English