Epson ES Series

Part 2: Maintenance 6. Replacing the Reduction Gear Units
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(6) Remove the four bolts (M4×10 for the ES series; M4×15 for the EL series) from the
Joint #2 motor flange.
Motor flange
ES: M4×10
EL: M4×15

(7) Remove the Joint #2 motor unit from Arm #1.

(8) Remove the eight bolts (M3×40 with plain washer for the ES series; M4×45 for the EL
series) from the Joint #2 reduction gear unit at the bottom of Arm #1.
ES: M3×40 with plain washer
EL: M4×45
Bottom of Arm #1