Replacing The Joint #4 Motor - Epson E2C Series Manipulator Manual

Maintenance 5. Replacing the Motors (Joint #4)

5.6 Replacing the Joint #4 Motor

A brake is mounted on the motor of Joint #4 to prevent the shaft from moving down and
NOTE
rotating 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 starting the replacement procedure by
following the instructions below:
(1) Turn ON the Controller.
(2) Push down the shaft to its lower limit while pressing the brake release button switch.
NOTE
(3) Turn OFF the Controller.
Removal
(1) Remove the arm top cover.
(2) Cut off the wire tie binding the duct plate,
(3) Remove the duct plate.
(4) Cut off the wire tie binding the motor cables to the Joint #4 motor.
(5) Disconnect connectors X141 and X41.
120
Be careful that the end effector does not hit any peripheral equipment.
The brake release button switch is applied to both Joints #3 and #4. When the brake
release button 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 button switch is
being pressed because the shaft may be lowered by the weight of an end effector.
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
motor, and cables together.
To disconnect the X141 connector, pull it out while pushing the projection next to the
connector.
Duct plate
3-M5×15
E2C Rev.6