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Joint #2 motor
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch.
(3) Turn OFF the Controller.
(4) Remove the arm top cover.
(5) Cut off the wire tie used for binding the motor cables to the Joint #2 motor.
(6) Disconnect the following connectors.
(7) This step is for the Radiating Unit:
(8) Remove the spring plate.
G10 / G20 Rev.20
Be 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 of the Joints #3 and #4 are released
simultaneously.
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: 3.1 Arm Top Cover.
Connectors X221, X21 (Hold the claw to remove.)
Connector X62
(7)-1 Remove the mounting bolt of the heat
sink (Hexagon socket head cap bolt
(fully
threaded))
radiating unit side beneath the arm.
The radiating unit side is the right side
from the arm forefront.
(7)-2 Remove the insulation lock that secures
the plate of radiating unit and rotate the
radiating unit.
At this point, be sure to keep the plate
mounted.
mounted
on
the
Maintenance 6. Arm #2
G10-65***
G10-65***
2-M4×8
G10
G20
Spring
plate
147
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