Replacing Joint #4 Motor - Epson SCARA ROBOT Manipulator Manual

Maintenance 8. Arm #4

8.1 Replacing Joint #4 Motor

Maintenance
AC Servo Motor (100 W)
parts
Hexagonal wrench
Nippers
Tools
Force gauge
Suitable cord (Length about 800 mm)
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).
150
Name
width across flats: 2 mm
width across flats: 3 mm
Quantity
R13B000609
1
R13B000617
(For S/N:1**** or later)
1 For M4 set screw
1
For M4 screw
1 For cutting wire tie
1 Belt tension 70 N (7.1 kgf)
1 For belt tension
Note
G6 Rev.21