Epson SCARA ROBOT Manipulator Manual page 139

(1) Mount the motor flange on the Joint #1 motor.
Joint #1 motor
Installation
(2) Mount the waveform generator on the Joint #1
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(3) Insert the oil seal and mount the Joint #1
(4) Connect the connectors.
(5) Mount the spring plate.
(6) Mount the connector plate.
(7) Mount the maintenance plate.
(8) Perform the calibration of Joint #1.
G6 Rev.21
motor.
Apply grease without touching the motor axis.
Be sure to fit the end face of the waveform
generator to the end face of the motor shaft.
Tighten one of the set screws on the flat face
of the motor shaft until the screw just touches
the surface. Insert a bushing into the other
set screw hole to prevent damage to the motor
shaft. Then, tighten both set screws.
motor unit on the base.
Be sure to fit the O-ring properly.
The motor cable must face the connector plate
side.
If it is difficult to mount the motor, push it
while moving Arm #1 slowly by hand.
Connectors X111, X10, XB10
For the details, refer to Maintenance: 4.1 Replacing Cable Unit - Cable unit
Installation Step (6)-2 for Table mounting, Ceiling mounting.
For details, refer to Maintenance: 3.4 Connector Plate.
For details, refer to Maintenance: 3.7 Maintenance Plate.
For details refer to Maintenance: 13. Calibration.
Maintenance 5. Arm #1
Motor flange
4-M5×15
Wave generator
M5 brass bushing
2-M5×8
set screw
SK-1A grease
(13g)
Motor Unit
4-M4×10
O-ring
127