Epson G20 Series

Maintenance 8. Arm #4
188 G10 / G20 Rev.20
8.4.1 Replacing the Reduction Gear Unit (Gear): G10
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.
Reduction Gear
Unit
Removal: G10
(1)
Refer to the removal steps (1) to (13) in
Maintenance: 10.2.1 Replacing
the Ball Screw
Spline Unit: G10
and remove the U belt.
M4×10
(2)
Secure the Z gear.
Before removing the
reduction gear unit, secure the
Z gear with
pressure on the Z gear.
(3)
Remove the r
eduction gear unit.
Reduction
gear unit
Bearing
(4)
Remove the bearing.
Reduction Gear
Unit
Installation: G10
(1)
Mount a new bearing.
(2)
Mount a new r
eduction gear unit.
(3)
Execute the installation steps (3) to (23) in
Maintenance: 10.2.1 Replacing the
Ball
Screw Spline Unit: G10
.