Replacing The Ball Screw Spline Unit - Epson G3 Series Manual

Maintenance 11. Ball Screw Spline Unit

11.2 Replacing the Ball Screw Spline Unit

A brake is mounted on the Joint #3 motor to prevent the shaft from moving down due to
the weight of the end effector while the power to the Controller is OFF or while the motor
is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
Maintenance
Ball Screw Spline Unit
parts
For Ball Screw Spline Unit (AFB grease)
Grease
Hexagonal wrench (width across flats: 3 mm)
Torque wrench
Nippers
Cross-point screwdriver
Tools
Force gauge
Suitable cord (Length about 1000 mm)
Wiping cloth
Wire tie
Material
Ball screw
(1) Turn ON the Controller.
spline unit
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
Removal
(3) Turn OFF the Controller.
(4) Detach the wires/tubes from the end effector, and remove the end effector.
(5) This step is only for Cleanroom-model (C with bellows option).
(6) Remove the arm top cover and arm bottom cover.
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Name
sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
The brake release switch affects only Joint #3. When the brake release switch is
pressed, the brake for Joint #3 is released simultaneously.
Be careful of the shaft while the brake release switch is being pressed because the
shaft may be lowered by the weight of an end effector.
Remove the bellows. For details, refer to Maintenance: 10. Bellows.
For details, refer to Maintenance: 3. Covers.
Quantity
Each manipulator model
(Refer to Maintenance:
1
15. Maintenance parts)
Proper
quantity
1 For M4 screw
1
1 For cutting wire tie
1 Only for Cleanroom-model
1 Belt tension
98 N (10 kgf) / 74 N (7.5 kgf)
1 For belt tension
1 For wiping grease (Spline shaft)
2
Note
G3 Rev.14