Epson G3 Series

Maintenance 7. Arm #3
G3 Rev.14 121
7.1 Replacing Joint #3 Motor
Name
Quantity
Note
Maintenance
parts
AC Servo Motor (150W) 1 R13B000615
Tools
Hexagonal wrench
width across flats: 2.5 mm
1
For M4 set screw
width across flats: 3 mm
1
For M4 screw
Torque wrench
1
Nippers
1
For cutting wire tie
Force gauge
1 Belt tension
74 N (7.5 ± 0.5 kgf)
Suitable cord (Length about 800 mm)
1
For belt tension
Material
Wire tie
2
A brake is mounted on the Joints #3 motor to prevent the shaft from lowering 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).
Joint #3 motor
Removal
(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 affects only Joints #3. When the brake release switch is
pressed, the brake for Joints #3 is released simultaneously.
Be careful of the
shaft 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 and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(5)
Remove the battery board.
Be careful not to pull the
connector when removing the battery board.
(6)
Cut off the wire tie used for bundling the power cables and signal c
ables of motor.
(7)
Remove the user plate.
(8)
Cut off the wire tie used for bundling the motor cables with the Joint #3 motor.
(9)
Disconnect the following connectors.
Connectors X231, X241, X31, X32, X41 (Hold the claw to remove.)
Connector X63, X64 (Backup cable connector of Joint #3 and #4)