Epson E2C Series Manipulator Manual page 156

Maintenance 6. Replacing the Reduction Gear Units (Joint #2)
(11) Mount the Joint #2 motor unit on Arm #1.
■ When removing or installing the arm, there must be two or more people to work
on it so that at least one of them can support the arm while others are removing
the bolts. Removing the bolts without supporting may result in fall of the arm,
CAUTION
bodily injury, and/or malfunction of the robot system.
(12) Mount Arm #2 on Arm #1.
(13) Mount the duct plate on Arm #2.
(14) Connect the connectors X121 and X21.
(15) Re-bundle the cables in their original positions with a wire tie.
(16) Install the arm top cover.
(17) Connect the power cable and signal cable to the base connector box (outside).
(18) Perform the calibration of Joint #2.
144
Make sure that the motor cables face
toward the direction as shown in the figure
on the right.
To do so, support the arm with two or more
people. Then, have another person secure
the mounting bolts for Arm #2.
Do not allow unnecessary strain on the cables.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
For details on the calibration method, refer to Maintenance: 14. Calibration.
Joint #2
motor unit
3-M4×10
Arm #2
Duct plate
3-M5×15
4-M5×15
E2C Rev.6