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Maintenance 8. Arm #4

150 G6 Rev.21

8.1 Replacing Joint #4 Motor

Name

Quantity

Note

Maintenance

parts

AC Servo Motor (100 W) 1

R13B000609

R13B000617

(For S/N:1**** or later)

Tools

Hexagonal wrench

width across flats: 2 mm

For M4 set screw

width across flats: 3 mm

For M4 screw

Nippers

For cutting wire tie

Force gauge

Belt tension 70 N (7.1 kgf)

Suitable cord (Length about 800 mm)

For belt tension

A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving

down due to the weight of the end effector while the power to the Controller is OFF or

while the motor is in OFF status (MOTOR OFF). (The brake for Joint #4 is only installed

to G6-**3**.)

Note that the brake will not work during the replacement procedure.

Move the shaft down to its lower limit before starting the replacement procedure by

following the removal steps from (1) to (3).

Epson SCARA ROBOT User Manual

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