Epson SCARA ROBOT

Maintenance 5. Arm #1
G6 Rev.21 127
Joint #1 motor
Installation
(1)
Mount the motor flange on the Joint #1
motor.
4-M5×15
Motor flange
(2)
Mount the waveform generator on the Joint
#1
motor.
Apply grease
without touching the motor axis.
Be sure to fit the end face of the waveform
generator to the end face of the motor
shaft.
Tighten one of the set
screws on the flat face
of the motor shaft until the screw
just touches
the surface.
Insert a bushing into the other
set
screw hole to prevent damage to the motor
shaft. Then, tighten
both set screws.
2-M5×8
set screw
M5 brass bushing
Wave generator
SK-1A grease
(13g)
O-ring
CAUTION
■
See the figures above for the orientation of the waveform generator.
Be sure to
install the waveform generator properly.
Improper installation of the waveform
generator will result in improper function of the Manipulator.
(3)
Insert the oil seal and mount the Joint #1
motor unit on the base.
Be sure to fit the O
-ring properly.
The motor cable must
face the connector plate
side.
If it is difficult to mount the motor, push it
while moving Arm #1 slowly by hand.
4-M4×10
Motor Unit
(4)
Connect the connectors
.
Connectors X111, X10, XB10
(5)
Mount the spring
plate.
For the details, refer to Maintenance: 4.1 Replacing Cable Unit -
Cable unit
Installation Step (6)-2 for Table mounting, Ceiling mounting.
(6)
Mount the connector plate.
For details, refer to Maintenance: 3.4 Connector Plate.
(7)
Mount the
maintenance plate.
For details, refer to Maintenance: 3.7 Maintenance Plate.
(8)
Perform the calibration of Joint #1.
For details refer to Maintenance: 13. Calibration.