Epson SCARA ROBOT User Manual

Maintenance 10. Ball Screw Spline Unit
172 G6 Rev.21
Ball screw
spline unit
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)
Detach the wires/tubes from the end effector, and remove the end effector.
(5)
This step is only for Cleanroom
-model and Protected-model (C,
D with bellows
option
, P).
Remove the
bellows. For details, refer to Maintenance: 9. Bellows.
(6)
Remove the arm
top cover and arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(7)
Cut off the wire tie banding motor cables to the Joint
#3 motor.
(8)
Disconnect the connectors.
Connectors X231, X31 (Hold the claw to remove.)
Connector X32
(9)
Remove the Joint #3 motor from Arm #2.
Remove the bolts securing the Joint #3 motor
plate. Remove the Z belt from the pulley.
Remove the motor
by pulling it up.
Pulley
Z belt
4-M4×12
+ Washer
Joint #3
motor unit
(10)
Loosen the bolts securing the Joint #4 motor
unit.
4-M4×12 + Washer
Joint #4
motor unit
Joint #4
intermediate
shaft unit
(11)
Loosen the bolts securing the Joint #4
intermediate shaft unit.

Epson SCARA ROBOT Specifications

General

Type	SCARA Robot
Applications	Assembly, Pick and Place, Dispensing, Packaging
Mounting	Floor, Wall, Ceiling
Communication Interface	Ethernet, RS-232, USB
Repeatability	±0.01 mm to ±0.02 mm