Epson SCARA ROBOT Manipulator Manual page 11

4. Cable
5. Arm #1
6. Arm #2
7. Arm #3
8. Arm #4
9. Bellows
10. Ball Screw Spline Unit
11. Lithium Battery
12. LED Lamp
G6 Rev.21
3.6 User Plate ........................................................................................ 104
3.7 Maintenance Plate ........................................................................... 104
3.8 Base Bottom Cover ......................................................................... 105
4.1 Replacing Cable Unit ....................................................................... 107
4.2 Wiring Diagrams .............................................................................. 118
4.2.1 Signal Cable ........................................................................ 118
4.2.2 Power Cable ........................................................................ 119
4.2.3 User Cable ........................................................................... 121
4.3 Replacing M/C Cable ...................................................................... 122
5.1 Replacing Joint #1 Motor ................................................................. 126
5.2 Replacing Joint #1 Reduction Gear Unit ......................................... 128
6.1 Replacing Joint #2 Motor ................................................................. 132
6.2 Replacing Joint #2 Reduction Gear Unit ......................................... 135
7.1 Replacing Joint #3 Motor ................................................................. 139
7.2 Replacing the Timing Belt ............................................................... 143
7.3 Replacing the Brake ........................................................................ 146
8.1 Replacing Joint #4 Motor ................................................................. 150
8.2 Replacing the Timing Belt ............................................................... 154
8.3 Replacing the Brake ........................................................................ 162
10.1 Greasing the Ball Screw Spline Unit ............................................. 169
10.1.1 Standard-model ................................................................. 169
10.1.2 Cleanroom-model, Protected-model ................................. 170
10.2 Replacing the Ball Screw Spline Unit ............................................ 171
11.1 Replacing the Battery Unit (Lithium Battery) ................................. 179
11.2 Replacing the Battery Board ......................................................... 180
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