Epson G20 series Manipulator Manual page 218

Maintenance 10. Ball Screw Spline Unit
(9) Loosen the Z belt.
(10) Loosen the U belt.
(11) Remove the nut mounting screws of the ball screw
(12) Remove the nut mounting screws of the ball screw
(13) Pull out the ball screw spline unit from Arm #2.
206
Loosen four bolts on the Joint #3 motor unit. Slide
the Joint #3 motor unit to the end of the arm.
Loosen the bolts mounting the Joint #4 motor unit
on the motor plate. Slide the Joint #4 motor unit to
the end of the arm.
spline shaft on the upper part of Arm #2.
spline shaft on the lower part of Arm #2.
4-M4×15
+ Washer
Joint #3
motor unit
4-M4×15
Joint #4
+ Washer
motor unit
3-M5×15
+ Washer
4-M5×15
+ Washer
Ball screw
spline unit
G10 / G20 Rev.20