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Maintenance 8. Arm #4
8.1.2 Replacing the Joint #4 Motor: G20
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).
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.
Joint #4 motor
(1) Turn ON the Controller.
Removal: G20
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
(3) Turn OFF the Controller.
(4) Remove the arm top cover and the arm bottom cover.
(5) Cut off the wire tie used for binding the motor cables to the Joint #4 motor.
(6) Disconnect the following connectors.
(7) Remove the Joint #4 motor from the reduction
(8) Remove the ring from the Joint #4 motor.
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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.
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.
For details, refer to Maintenance: 3. Covers.
Connectors X241, X41 (Hold the claw to remove.)
Connector X64
gear unit.
Unscrew the reduction gear unit bolts securing
the Joint #4 motor shaft and bolts securing the
Joint #4 motor.
There is a brass bushing in the both set screw
holes. Be careful not to lose it.
2-M4×10
Joint #4 motor
Reduction
gear unit
M3×10
(Securing the motor shaft)
Ring
Bushing
2-M3×8
set screw
G10 / G20 Rev.20
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