Epson SCARA ROBOT User Manual

Maintenance 7. Arm #3
140 G6 Rev.21
Joint #3 motor
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.
(The brake for Joint #4 is only installed to G6-**3**.)
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)
Remove the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(5)
Cut off the wire tie used for binding the motor cables
to the Joint #3 motor.
(6)
Disconnect the following connectors.
Connectors X231, X31 (Hold the claw to remove.)
Connector X63
(7)
Loosen the Z belt.
Loosen four bolts on the Joint #3 motor unit.
Slide the Joint #3 motor unit to the end of the
arm.
4-M4×12
+ Washer
Joint #3
motor unit
Pulley
Z belt
(8)
Remove the Joint #3 motor unit from Arm
#2.
Unscrew the bolts securing the Joint #3 motor
unit. Remove the Z1 pulley from the Z belt.
Pull the Joint #3 motor unit upward to remove.
(9)
Remove the Joint #3 motor from the Joint #3
motor unit.
(9) 4
-M5×10
Joint #3
motor
(10) M5 bushing
(10) 2-M5×6
set screw
Pulley
(10)
Remove the pulley from the Joint #3 motor.
There is a brass bushing in one of the
set screw
holes
. Be careful not to lose it.

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English