Epson G20 Series User Manual

Maintenance 5. Arm #1
140 G10 / G20 Rev.20
5.1 Replacing Joint #1 Motor
Name Quantity Note
Maintenance
parts
AC Servo Motor (750 W) 1
R13B000610
R13B000624
(For S/N: 1**** or later)
Tools
Hexagonal wrench
width across flats: 2.5 mm
1
For M5 set screw
width across flats: 3 mm
1
For M4 screw
width across flats: 4 mm
1
For M5 screw
width across flats: 5 mm
1
For M6 screw
Wiping cloth
1
For wiping grease
Grease
Grease (SK-1A)
28 g
Joint #1 motor
Removal
(1)
Remove the connector plate.
For details, refer to Maintenance: 3.4 Connector Plate.
(2)
Disconnect the following connectors.
Connectors X111, X10 (Hold the claw to remove.)
Connector XB10
(3)
Remove the maintenance plate.
For details, refer to Maintenance: 3.7 Maintenance Plate.
(4)
Remove the spring plate.
For the details, refer to Maintenance: 4.1 Replacing Cable Unit -
Cable unit
Removal Step (7)-2 for Table mounting, Ceiling mounting.
(5)
Remove the Joint #1 motor unit from the base.
To do
so, unscrew the bolts from the Joint
#1 motor flange.
Then,
pull out the motor straight and downward.
To unscrew the two bolts on the
maintenance hole side,
insert a hexagonal
wrench through the maintenance
hole.
If the motor cannot be pulled out easily, pull it
out while moving Arm #1 slowly by
hand.
4-M5×25
Motor unit
(6)
Remove
the wave generator from the Joint #1 motor.
There is a brass bushing in one of the
set screw holes.
Be careful not to lose it.
2-M5×8
set screw
M5 brass bushing
Wave generator
(7)
Remove the motor flange from the Joint #1 motor.
4-M6×20
Motor flange

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English