Epson SCARA ROBOT

Maintenance 5. Arm #1
126 G6 Rev.21
5.1 Replacing Joint #1 Motor
Name Quantity Note
Maintenance
parts
AC Servo Motor (400 W) 1
R13B000607
R13B000616
(For S/N:1**** or later)
Tools
Hexagonal wrench
width across flats: 2.5 mm
1
For M5 set screw, M3 screw
width across flats: 3 mm
1
For M4 screw
width across flats: 4 mm
1
For M5 screw
Wiping cloth
1
For wiping grease
Grease
Grease (SK-1A)
13 g
Joint #1 motor
Removal
(1)
Remove the connector plate.
For details, refer to Maintenance: 3.4 Connector Plate.
(2)
Disconnect the following connectors.
Connectors X111, X10 (Hold the claw to remove.)
Connector XB10
(3)
Remove the maintenance plate.
For details, refer to Maintenance: 3.7 Maintenance Plate.
(4)
Remove the spring plate.
For the details, refer to Maintenance: 4.1 Replacing Cable Unit -
Cable unit
Removal Step (7)-2 for Table mounting, Ceiling mounting.
(5)
Remove the Joint #1 motor unit from the base.
To do so, unscrew the bolts from the
Joint
#1 motor
flange. Then, pull out the motor
straight and downward.
To unscrew the two bolts on the
maintenance hole side,
insert a hexagonal
wrench through the maintenance hole.
4-M4×10
Motor unit
If the motor cannot be pulled out
easily,
pull it out while moving Arm #1 slowly by
hand.
(6)
Remove
the wave generator from the Joint #1 motor.
There is a brass bushing in one of the
set screw holes.
Be careful not to lose it.
2-M5×8 set screw
M5 brass bushing
Wave generator
Remove the motor
flange from the Joint #1 motor.
4-M5×15
Motor flange