Epson G20 Series User Manual

Maintenance 10. Ball Screw Spline Unit
G10 / G20 Rev.20 199
Ball screw
spline unit
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)
Detach the wires
and tubes from the end effector, and remove the end effector.
(5)
This step is only for Cleanroom
-model and Protected-model (C,
D with bellows
option
, P).
Remove the
bellows.
For details, refer to Maintenance: 9. Bellows.
(6)
Remove the arm
top cover and arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(7)
Cut off the wire tie banding motor cables to the Joint #3 motor
and Joint #4 motor.
(8)
When you use the plate of
4-point mounting, remove
the plate.
When you use the plate of 3
-point mounting, loosen
the plate mounting bolt.
When removing the battery unit mounting bolts, 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.
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Plate
Battery unit
(9)
Loosen the Z belt.
Loosen four bolts on the Joint #3 motor unit.
Slide the Joint #3 motor unit to the end of the arm.
4-M4×15
+ Washer
Joint #3
motor unit

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English