Epson SCARA ROBOT Manipulator Manual page 148

Maintenance 6. Arm #2
Joint #2 (1) Turn ON the Controller.
reduction gear
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
unit
Removal
(3) Turn OFF the Controller.
(4) Execute steps from (1) to (10) in Maintenance: 6.1 Replacing Joint #2 Motor and
(5) Use the extracting M3 screws and remove the
(6) Remove the circular spline from Arm #2.
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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.
remove the waveform generator from the Joint #2 motor.
flexspline and grip ring from Arm #2.
Spacer
8-M5×15
Flexspline
Grip ring
16-M3×15
Circular spline
G6 Rev.21