Epson G20 series Manipulator Manual page 188

Maintenance 8. Arm #4
(7) Remove the Joint #4 motor unit from Arm #2.
(8) Remove the brake hub.
(9) Remove the brake.
(10) Remove the Z belt from the Z pulley and remove
176
Pull out the U belt from the U1 pulley to remove it.
Loosen the two set screws and pull out the brake
hub.
There is a wave washer between the housing and
the bearing. Be careful not to lose it.
The gear for Z axis is a backlash-less gear. Be
sure to keep the gear and pinion engage.
If the gear is out of joint, refer to step (7) in Ball
Screw Spline Unit Installation of Maintenance
10.2.1 Replacing the Ball Screw Spline Unit: G10 to
engage the gear.
the U belt.
Remove the bolts securing the spline plate. Hold
the spline plate and pull out the Z belt from the Z
pulley upwards to remove the U belt.
Joint #4
4-M4×15
motor unit
+ Washer
Brake hub
2-M3×4
set screw
4-M4×12
Wave washer
Brake
Bearing
3-M5×15
Spline plate
U belt
G10 / G20 Rev.20