Epson SCARA ROBOT Manipulator Manual page 156

Maintenance 7. Arm #3
Z belt (1) Turn ON the Controller.
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 and the arm bottom cover.
(5) Cut off the wire tie used for binding the motor cables to the Joint #3 motor.
(6) Disconnect the following connectors.
(7) Remove the Joint #3 motor unit from Arm #2.
(8) Remove the Z belt.
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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 for Joints #3 and #4 are released
simultaneously. (The brake for Joint #4 is only installed to G6-**3**.)
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. Covers.
Connectors X231, X31 (Hold the claw to remove.)
Connector X32, X63
Remove the bolts securing the spline plate and
pull out the spline plate upward to remove it.
Joint #3
4-M4×12
motor unit
+ Washer
3-M4×12
Z belt
Spline plate
G6 Rev.21