Epson ES Series - 5.4 Replacing the Joint #4 Motor

5. Replacing the Motors Part 2: Maintenance
110
Installation : Joint #1
(1) Attach a new motor to the motor flange with four bolts (M5
×
12).
(2) Mount the waveform generator to the motor shaft with two flat point setscrews
(M5
×
6). Match the end face of the waveform generator to the end face of the motor
shaft. One of the setscrews should touch the flat side of the motor shaft
perpendicularly. Insert a bush in the other setscrew hole and tighten the screw. Do
not over tighten to avoid damage to the motor shaft.
For the ES and EL series manipulators, the direction in which the waveform generator
is attached is different (See below). For ES, the setscrews should be located at the
end of the motor shaft. For EL, the setscrews should be located at the mid-point of
the motor shaft.
ES
Bush
M5
×
6
Waveform generator
Flat face
End face of motor shaft
Flat point setscrew
EL
Bush
M5
×
6
Waveform generator
Flat face
End face of motor shaft
Flat point setscrew

NOTE