Epson SCARA ROBOT - Page 171

Maintenance 8. Arm #4
G6 Rev.21 159
(10)
Remove the U2 belt from the U2 small pulley
and remove the U1 belt from the U1 pulley and
U2 large pulley.
U1 pulley
Joint #4
motor unit
Joint #4
intermediate
shaft unit
U1 belt
U2 belt
U2 small pulley
U2 large pulley
P
ut the Joint #4 motor unit and the Joint #4
intermediate shaft
unit to the shaft side and
remove the belt from the pulley.
(11)
Remove the U2 belt.
Remove the bolts securing the spline plate.
Hold the spline plate up and remove the U2 belt
from the shaft by pulling them up.
3-M4×12
U2 belt
Spline plate