Epson VT6L User Manual

Maintenance 12. Joint #4
VT Rev.1 195
12.1 Replacing Joint #4 Motor
Name Quantity Note
Maintenance
parts
Joint #4 motor unit 1 2194599
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #
4 Motor
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove the Arm #3 Cover.
For details, refer to Maintenance: 7.3 Arm #3 Cover.
(3)
Cut off
the wire tie bound inside the Arm #3
Wire tie: AB150 × 2
Be careful not to cut the harness.
(4)
Cut off
the wire tie that binds the following
cables of
the Joint #4 motor.
Wire tie: AB100 × 2
Power cable
Signal cable
Be careful not to cut the harness.
(5)
Remove
the plate (with AMP board) inside the Arm
#3.
Hexagon socket head cap bolts with captive washer:
2-M4×12

NOTE

NOTE

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English