Replacing Joint #2 Motor - Epson SCARA ROBOT Manipulator Manual

Maintenance 6. Arm #2

6.1 Replacing Joint #2 Motor

Maintenance
AC Servo Motor (400W)
Parts
Hexagonal wrench
Tools
Nippers
Wiping cloth
Wire tie
Material
Grease (SK-1A)
Grease
(1) Turn ON the Controller.
Joint #2 motor
Removal
(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.
(5) Disconnect the connectors X22, X33 connected to the arm top cover.
(6) Cut off the wire tie used for binding the motor cables to the Joint #2 motor.
(7) Disconnect the connectors.
(8) Remove the spring plate.
132
Name
width across flats: 2 mm
width across flats: 3 mm
width across flats: 4 mm
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. (Joint #4 brake is installed to G6-**3** only.)
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: 3.1 Arm Top Cover.
Connectors X221, X21 (Hold the claw to remove.)
Connector X62
Quantity
R13B000607
1 R13B000616
(For S/N：1**** or later)
1 For M4 set screw
1 For M4 screw
1 For M5 screw
1 For cutting wire tie
1 For wiping grease
4
6 g
2-M4×10
Spring plate
Note
G6 Rev.21