Epson VT6-A901S Maintenance Manual

VT6L Maintenance 11. Joint #3
86 VT series Maintenance Manual Rev.2
Joint #3 Motor
Removal
(1)
Turn ON the Manipulator.
(2)
Release the Joint #
3 brake. Tilt the Arm #3 and push it against the Arm #2.
The Arm #
3 falls by its weight when the Joint #3 motor unit is removed.
Therefore,
release the brake and tilt the Arm #
3 in advance.
EPSON
RC+
C
ommand
>brake off, 3
When pushing
the arm, push the Arm #3 slowly to the Arm #2.
If a strong impact is applied to
the joint, the Manipulator may get damage.
(3)
Turn OFF the Manipulator.
(4)
Remove
the Arm #2 cover.
Reference: 7.2 Arm #2 Cover
(5)
Cut off the wire tie bound inside the Arm #2.
Wire tie : AB150 × 3
AB100 × 2
Be careful not to cut the harness.
Wire ties × 3
(6)
Remove the cable fixing plate on
the Arm #2.
(Joint #3 side)
Hexagon socket head cap bolts with captive
washer: 4-M4×12
(7)
Loosen the mounting screws of the Joint #3 motor
unit and remove
the Joint #3 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(8)
Remove the Arm #2 from
the motor unit.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(9)
Disconnect
the following connectors from the AMP board.
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C

NOTE

NOTE

Epson VT6-A901S Specifications

General

Brand	Epson
Model	VT6-A901S
Category	Robotics
Language	English