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Maintenance 10. Ball Screw Spline Unit

G6 Rev.21 171

10.2 Replacing the Ball Screw Spline Unit

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).

Name

Quantity

Note

Maintenance

parts

Ball Screw Spline Unit 1

Each manipulator model

(Refer to Maintenance:

14. Maintenance Parts)

Grease

For Ball Screw Spline Unit (AFB grease)

Proper

quantity

Tools

Hexagonal wrench (width across flats: 3 mm)

For M4 screw

Nippers

For cutting wire tie

Force gauge

1 Belt tension 70N, 80N, 130N

(7.1 kgf, 8.1 kgf, 13.2 kgf)

Suitable cord (Length about 1000 mm)

For belt tension

Wiping cloth

For wiping grease

Material

Wire tie

Epson SCARA ROBOT User Manual

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