Epson ES Series User Manual

5. Replacing the Motors Part 2: Maintenance
122
5.4 Replacing the Joint #4 Motor
Removal : Joint #4
(1) Open the arm top cover and arm bottom cover. (Refer to chapter 2. Opening the
Covers.)
(2) Cut off the wire ties which fasten the Joint #4 motor and cables.
(3) Disconnect connectors ,X141 and X41. To disconnect X141, pull it out while pushing
the presser tongue next to the connector number on the motor side.
(4) Remove the four bolts (M4×10) from the motor plate. And remove the pulley from
the U1 belt to remove the Joint #4 motor unit from the arm.
M4
×
10
Motor plate
U1 belt
U1 pulley
U2 belt

Epson ES Series Specifications

General

Type	SCARA
Payload	3 kg
Repeatability	±0.01 mm
Axes	4
Controller	RC700