Replacing Joint #3 Motor - Epson SCARA ROBOT Manipulator Manual

7.1 Replacing Joint #3 Motor

Maintenance
AC Servo Motor (200W)
parts
Hexagonal wrench
Torque wrench (M5)
Tools
Nippers
Force gauge
Suitable cord (Length about 800 mm)
Wire tie
Material
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF). (The brake for Joint #4 is only installed
to G6-**3**.)
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
G6 Rev.21
Name
width across flats: 2.5 mm
width across flats: 3 mm
width across flats: 4 mm
Maintenance 7. Arm #3
Quantity
R13B000608
1
R13B000614
(For S/N: 1**** or later)
1 For M5 set screw
1 For M4 screw
1 For M5 screw
Tightening torque 7.0 N⋅m
1
1 For cutting wire tie
1 Belt tension 80 N (8.2 kgf)
1 For belt tension
2
Note
(71.3 kgf⋅cm)
139