Epson SCARA ROBOT User Manual

Maintenance 8. Arm #4
G6 Rev.21 151
Joint #4 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 both Joints #3 and #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
(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 Controller.
(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 #4 motor.
(6)
Disconnect the following connectors.
(X42: G6-**3** only)
Connectors X241, X41 (Hold the claw to remove.)
Connector X42, X64
(7)
Remove the Joint #4 motor unit from Arm
#2.
Be careful not to break the battery board.
Unscrew the bolts securing the Joint #4 motor
unit to the Motor plate. Remove the U1 belt
from the pulley. Pull the Joint #4 motor unit
upward to remove.
2-M4×12
+ Washer
Joint #4 motor
(8)
Remove
the pulley from the Joint #4 motor.
There is a brass bushing in one of the
set screw
holes
. Be careful not to lose it.
2-M4×8
set screw
M4 bushing
(9)
Remove the motor plate from the Joint #4
motor.
2-M4×8
Motor plate

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English