Epson G20 series Manipulator Manual page 212

Maintenance 10. Ball Screw Spline Unit
(10) Remove the Joint #4 motor unit from Arm #2.
(11) Remove the brake hub.
(12) Remove the brake.
(13) Remove the U belt.
(14) Remove the Joint #4 intermediate pulley.
(15) Remove the nut mounting screws of the ball screw
(16) Pull out the ball screw spline unit from Arm #2.
200
Unscrew the bolts securing the Joint #4 motor unit
to the motor plate. Remove the U belt from the
U1 pulley. Pull the Joint #4 motor unit upward to
remove.
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.
Remove the shaft from the bearing and remove the
intermediate pulley from the lower side of Arm #2.
spline shaft on the lower part of Arm #2.
4-M4×15
Joint #4
+ Washer motor unit
Brake hub
2-M3×4
set screw
4-M4×12
Wave washer
Brake
Bearing
3-M5×15
U belt
Intermediate
pulley
Shaft
Bearing
4-M5×15
G10 / G20 Rev.20