Epson SCARA ROBOT Manipulator Manual page 123

(8) Remove the arm caps and side covers on Arm #1.
(9) Remove the arm top cover.
(10) Remove the user plate.
(11) Disconnect the D-sub cable, air tubes, and
NOTE

(12) Cut off the wire tie binding cables on the Arm
(13) Remove the 11 connectors on the Arm side.
NOTE

(14) Remove the ground terminals mounted to Arm
NOTE

(15) Remove the saddle part mounting cables inside
(16) Remove the spring plate.
(17) Cut off the wire ties binding cable and fixing
G6 Rev.21
For details, refer to Maintenance: 3.3 Arm #1 Cover.
For details, refer to Maintenance: 3.1 Arm Top Cover.
For details of user plate removal, refer to Maintenance 3.6 User Plate.
connector of the brake release switch from the
user plate.
Mounting screws for the D-sub cable are very
small. Be sure to keep the screws.
Press the ring on the fitting and pull out the air
tube. (ø6×2, ø4×2)
Be sure to observe the connection for connecting the disconnected parts after
replacement.
#2 side.
X21, X22, X31, X32, X33, X41, X42, X61, X221,
X231, X241
Be sure to keep the connectors excluding X61 of the battery board connected at cables
replacement. Otherwise, the motor will lose position data and the calibration must
be executed again.
#2.
Record the connection terminal and the
connection point before disconnect the ground
terminal.
G6-***S*, C*: 2 terminals
G6-***D*, P*: 3 terminals
Arm #2.
spring.
Maintenance 4. Cable
D-sub cable
Air tube
Brake release switch cable
Wire tie
Ground terminal
(18) 2-M4×10
Saddle part
Spring plate
Wire tie
(17) 2-M5×10
111