Maintenance 8. Arm #4
158 G6 Rev.21
Push down the shaft to its lower limit while pressing the brake release switch.
sure to keep enough space and prevent the
end effector hitting any peripheral
The brake release switch is applied to both Joints #3 and #4. When the brake release
switch is pressed, the
respective brakes for Joints #3 and #4 are released
(The brake for Joint #4 is only installed to G6-**3**.)
shaft falling and rotating while the brake release switch is being
because the shaft may be lowered by the weight of an end effector.
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
Cut off the wire tie used for binding the motor cables to the
Disconnect the following connectors.
Connectors X231, X31 (Hold the claw to remove.)
Connector X63, X32
Remove the Joint #3 motor unit from Arm #2.
Remove the bolts securing the Joint #3
. Remove the Z belt from the pulley.
Pull the Joint #3 motor unit upward to remove.
Loosen the bolts securing the Joint #4 motor unit.
Joint #4
intermediate
shaft unit
Loosen the bolts securing the
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