Epson SCARA ROBOT

Maintenance 6. Arm #2
136 G6 Rev.21
Joint #2
reduction gear
unit
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 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.
(Joint #4 brake is installed to G6-**3** only.)
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)
Execute steps from (1) to (10) in
Maintenance: 6.1 Replacing Joint #2 Motor
and
remove the waveform generator from the Joint #2 motor.
(5)
Use the extracting M3 screws and remove the
flexspline and grip ring from Arm #2.
8-M5×15
Flexspline
Spacer
Grip ring
(6)
Remove the circular spline from Arm #2.
16-M3×15
Circular spline