Epson G20 Series User Manual

Maintenance 8. Arm #4
184 G10 / G20 Rev.20
8.3 Replacing the Brake
The brake of Joint #4 for G20 series is built in the motor. Replace the motor to change
the brake.
Name Quantity Note
Maintenance
parts
Solenoid brake
G10
1
R13B030501
G20
-
-
Tools
Hexagonal wrench
width across flats: 1.5 mm
1
For M3 set screw
width across flats: 3 mm
1
For M4 screw
width across flats: 2 mm
1
For M2.5 screw
Nippers
1
For cutting wire tie
Force gauge
1
Belt tension 160N (16.3 kgf)
Suitable cord (Length about 800 mm)
1
For belt tension
Material
Wire tie
1
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before the replacement procedure following the
removal steps from (1) to (3).
Joint #4 brake
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.
For details, refer to Maintenance: 3.1 Arm Top Cover.
(5)
Disconnect the connector X42.
(6)
Cut off the wire tie used for binding the brake cables.

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English