Epson SCARA ROBOT User Manual

Maintenance 7. Arm #3
G6 Rev.21 139
7.1 Replacing Joint #3 Motor
Name
Quantity
Note
Maintenance
parts
AC Servo Motor (200W)
1
R13B000608
R13B000614
(For S/N: 1**** or later)
Tools
Hexagonal wrench
width across flats: 2.5 mm
1
For M5 set screw
width across flats: 3 mm
1
For M4 screw
width across flats: 4 mm
1
For M5 screw
Torque wrench (M5) 1
Tightening torque 7.0 N⋅m
(71.3 kgf⋅cm)
Nippers
1
For cutting wire tie
Force gauge
1
Belt tension 80 N (8.2 kgf)
Suitable cord (Length about 800 mm)
1
For belt tension
Material
Wire tie
2
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
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). (The brake for Joint #4 is only installed
to G6-**3**.)
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).

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English