Epson G20 Series User Manual

Maintenance 8. Arm #4
G10 / G20 Rev.20 189
8.4.2 Replacing the Reduction Gear Unit: G20
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.
Joint #4
Reduction gear
unit
Removal: G20
(1)
Refer to
the removal steps (1) to (7) in Maintenance:
8.2.2 Replacing
the Timing Belt: G20 and remove the
Joint #4 motor unit from Arm #2.
2-M4×10
Joint #4 motor
Joint #4
reduction gear unit
M3×10: To secure
the motor shaft
(2)
Remove the Joint #4 motor from
the reduction gear
unit.
Unscrew the bolt of reduction gear unit securing the
Joint #4 motor shaft and bolt securing the Joint #4
motor.
(3)
Remove
the plate.
Joint #
4
reduction gear unit
Plate
4-M5×18
(4)
Remove
the U pulley.
Joint #4
reduction gear unit
6-M4×15
Pulley

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English