Epson G20 Series User Manual

Maintenance 8. Arm #4
G10 / G20 Rev.20 169
Joint #4 motor
Removal:
G10
(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)
Remove the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(5)
Cut off the wire tie used for binding the motor cables to the Joint #4
motor.
(6)
Disconnect the following connectors.
Connectors X241, X41 (Hold the claw to remove.)
Connector X64
(7)
When you use the plate of 3
-poin mounting, loosen
the plate mounting bolt.
Be sure to keep the connectors connected to the
battery unit.
If connectors of the battery unity are disconnected,
you need to perform calibration again.
When you use the plate of
4-point mounting, you do
not have to loosen the plate mounting bolt.
3-point mounting
Plate
Battery unit
(8)
Remove the Joint #4 motor unit from Arm
#2.
Remove the U belt from the U1 pulley. Pull the
Joint #4 motor unit upward to remove.
4-M4×15
+ Washer
Joint #4
motor unit
(9)
Remove
the U1 pulley and the motor plate from the
Joint #4 motor.
There is a brass bushing in one of the
set screw
holes
. Be careful not to lose it.
2-M4×8
set screw
M4 bushing
Motor plate
Joint #4 motor
Pulley
Bearing
2-M4×15

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English