Epson G20 series Manipulator Manual page 200

Maintenance 8. Arm #4
8.4.1 Replacing the Reduction Gear Unit (Gear): G10
A brake is mounted on the motor of Joints #3 and #4 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 the replacement procedure following the
removal steps.
Reduction Gear (1) Refer to the removal steps (1) to (13) in
Unit
Removal: G10
(2) Secure the Z gear.
(3) Remove the reduction gear unit.
(4) Remove the bearing.
Reduction Gear (1) Mount a new bearing.
Unit
(2) Mount a new reduction gear unit.
Installation: G10
(3) Execute the installation steps (3) to (23) in Maintenance: 10.2.1 Replacing the Ball
188
Maintenance: 10.2.1 Replacing the Ball Screw
Spline Unit: G10 and remove the U belt.
Before removing the reduction gear unit, secure the
Z gear with pressure on the Z gear.
Screw Spline Unit: G10.
M4×10
Reduction
gear unit
Bearing
G10 / G20 Rev.20