Epson SCARA ROBOT Manipulator Manual page 153

(1) Secure the pulley to the new motor shaft.
Joint #3 motor
Installation
(2) Mount the Z plate to the Joint #3 motor.
(3) Loosen the screws securing the pulley.
(4) Loosen the screws securing the hub.
NOTE

(5) Place the Joint #3 motor unit in the arm so that
G6 Rev.21
Be sure to fit the end face of the pulley 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.
tighten both set screws.
Screw : 4-M5×12
Tightening torque : 7.0 N⋅m (71.3 kgf⋅cm)
Push up the pulley to the brake and tighten the
screw.
Push down the hub to the pulley side.
Tighten the screws with the space 0.1 - 0.3 mm
between.
If the hub is secured with the space larger than 0.3
mm, the brake hub may interfere with the movable
plate. This may grind the movable plate and cause
metal powder.
the motor cable faces toward the front of the arm.
Make sure that the rotor hub on the end face of
the pulley is completely set in the fitting on the
brake friction plate.
Maintenance 7. Arm #3
Brake hub
90°
M5 bushing
2-M5×6
Set screw
Z1 Pulley
Push
Joint #3 motor
Then,
Z plate
Joint #3 motor
4-M5ｘ12
[Torque:700Ncm
(71.3 kgf⋅cm)]
PUSH
Z1 pulley
×
2-M5 6
2-M3×4 Set screw
0.1 - 0.3mm
Brake hub
PUSH
4-M4×12
+ Washer
2-M3×4
Set screw
0.5 ㎜
Joint #3
motor unit
141