Epson SCARA ROBOT Manipulator Manual page 160

Maintenance 7. Arm #3
(1) Mount the brake to the brake plate.
Joint #3 brake
Installation
(2) Mount the brake hub to the Z1 pulley.
(3) Mount the motor unit to the Z plate.
(4) Mount the Joint #3 brake unit to Arm #2 so that
(5) Connect the connectors.
(6) Re-bundle the cables in their original positions with a wire tie removed in step (5).
(7) Install the arm top cover and the arm bottom cover.
(8) Perform the calibration of Joint #3.
148
For the brake hub mounting procedure, refer to
the section 7.1 Replacing Joint #3 Motor - Joint
#3 motor installation - Step (1) - (4).
Align the position of the disk on the brake and
the hub.
When the brake disk is not aligned, turn ON the
Controller and connect the connector X32.
Press the brake release switch and release the
brake to manually adjust the position.
the open side faces toward the end of the arm.
Connectors X231, X31, X32, X63
Do not allow unnecessary strain on the cables.
For details, refer to Maintenance: 3. Covers.
For details, refer to Maintenance: 13. Calibration.
2-M3×10
Brake
Brake
plate
Z plate
(3) 4-M5×12
Joint #3 motor
Z1 pulley
Brake hub
(2) 2-M3×4
set screw
Z plate
Disk
Hub
Joint #3
4-M4×12
motor unit
+ Washer
G6 Rev.21