Replacing Joint #1 Motor - Epson VT Series Manipulator Manual

Maintenance 9. Joint #1

9.1 Replacing Joint #1 Motor

Maintenance
Joint #1 motor unit
parts
Hexagonal
wrench
Tools
Torque wrench
Nippers
Belt tension meter
Material
Wire tie
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #1 Motor
(1) Turn OFF the Manipulator.
Removal
(2) Remove the Arm #1 Cover.
(3) Cut off the wire tie that binds the following cables.
NOTE

(4) Cut off the wire tie on the plate (Arm #1 sleeve side) and
NOTE

(5) Remove the motor unit from the Arm #1.
166
Name
width across flats: 2.5 mm
width across flats: 3 mm
Reference: Maintenance 7.1 Arm #1 Cover.
Signal cable and the signal cable for AMP board
between the Joint #1 motor and the controller unit
Be careful not to cut the harness.
remove the plate.
Hexagon socket head cap bolts: 2-M4×12 (with washer)
Be careful not to cut the harness.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Quantity
1 2194596
For M3 hexagon socket head
1
cap bolts
For M4 hexagon socket head
1
cap bolts
1 For tightening torque control
1 For cutting wire tie
1 Refer: Unitta U-505
-
Note
VT Rev.1