Epson SCARA ROBOT

Maintenance 5. Arm #1
G6 Rev.21 129
Joint #1
reduction gear
unit
Removal
(1)
Execute the removal steps from (1) to (5) in
Maintenance: 5.1
Replacing Joint #1
Motor
and remove the waveform generator.
(2)
Remove the arm cap on the base side.
For details, refer to Maintenance: 3.3 Arm #1 Cover.
(3)
T
urn the Manipulator laterally.
CAUTION
■
When
turning the Manipulator laterally, there must be two or more people to work
on it so that at least one of them can support the arm while others are removing
the bolts.
Removing the bolts without supporting the arm may result in the arm
falling, bodily injury, and/or malfunction of the robot syst
em.
(4)
Use the
extracting M4 screws
and remove the
flexspline and the grip
ring.
Be sure to keep the spacer.
Flexspline
8-M6×15
Spacer
Grip ring
(5)
Remove the circular spline from the base.
Circular
spline
16-M4×20