Epson G20 Series

Maintenance 6. Arm #2
152 G10 / G20 Rev.20
Joint #2
reduction gear
unit
Removal
(1)
Turn ON the Controller.
(2)
Push down the shaft to its lower limit while pressing the brake release switch. Be
sure to keep enough space and prevent the
end effector
hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
Be careful of the
shaft falling and rotating while the brake release switch is
being
pressed
because the shaft may be lowered by the weight of an end effector.
(3)
Turn OFF the Controller.
(4)
Execute steps from (1) to (9) in
Maintenance: 6.1 Replacing Joint #2 Motor
and
remove the waveform generator from the Joint #2 motor.
(5)
Use the extracting M5 screws and remove the
flexspline from Arm #2.
8-M8×20
G10
G20
Flexspline
Spacer
(6)
Remove the circular spline from Arm #2.
16-M5×25
G10
G20
Circular
spline