Epson G20 Series - Page 217

Maintenance 10. Ball Screw Spline Unit
G10 / G20 Rev.20 205
10.2.2 Replacing the Ball Screw Spline 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 starting the replacement procedure by
following the removal steps from (1) to (3).
Ball screw
spline unit
Removal
: G20
(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 the 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 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.
When you use the plate of 3 mounting, loosen
the
plate mounting bolts.
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Plate
Battery unit