Epson VT Series Manipulator Manual page 203

Joint #3 Motor (1) Turn ON the Manipulator.
Removal
(2) Release the Joint #3 brake. Tilt the Arm #3 and push it against the Arm #2.
NOTE

(3) Turn OFF the Manipulator.
(4) Remove the Arm #2 cover.
(5) Cut off the wire tie bound inside the Arm #2.
NOTE

(6) Remove the cable fixing plate on the Arm #2.
(7) Loosen the mounting screws of the Joint #3 motor
(8) Remove the Arm #2 from the motor unit.
(9) Disconnect the following connectors from the AMP board.
VT Rev.1
The Arm #3 falls by its weight when the Joint #3 motor unit is removed. Therefore,
release the brake and tilt the Arm #3 in advance.
EPSON Command
RC+
>brake off, 3
When pushing the arm, push the Arm #3 slowly to the Arm #2.
If a strong impact is applied to the joint, the Manipulator may get damage.
Reference: Maintenance 7.2 Arm #2 Cover
: AB150 × 3
Wire tie
AB100 × 2
Be careful not to cut the harness.
(Joint #3 side)
Hexagon socket head cap bolts with captive
washer: 4-M4×12
unit and remove the Joint #3 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
Maintenance 11. Joint #3
Wire ties × 3
A
B
D
C
187