Epson SCARA ROBOT Manipulator Manual page 167

U1 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) Loosen the bolts securing the Joint #4 motor
(6) Loosen the blots securing the Joint #4
(7) Remove the U2 belt from the U2 small pulley
G6 Rev.21
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.
unit.
intermediate shaft unit.
and remove the U1 belt from the U1 pulley and
U2 large pulley.
Put the Joint #4 motor unit and the Joint #4
intermediate shaft unit to the shaft side and
remove the belt from the pulley.
Maintenance 8. Arm #4
Joint #4
Joint #4
intermediate
motor unit
shaft unit
4-M4×12 + Washer
Joint #4
Joint #4
Intermediate
Motor unit
shaft unit
U1 belt
U2 belt
U1 pulley
U2 small pulley
U2 large pulley
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