Replacing The U1 Belt - Epson E2C Series Manipulator Manual

Maintenance 8. Replacing the Timing Belts (U1 Belt)

8.4 Replacing the U1 Belt

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:
Removal
(1) Remove the arm top cover.
(2) Cut off the wire tie binding the duct plate,
(3) Remove the duct plate.
(4) Loosen the bolts securing the Joint #4
(5) Remove the Joint #4 counter shaft unit.
(6) Remove the U1 belt from the U1 pulley.
156
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
motor, and cables together.
motor unit.
If there is a wire tie securing cables to the
Joint #4 motor, cut off it.
To do so, unscrew the bolts securing the
Joint #4 counter shaft unit.
Move the Joint #4 motor unit to the shaft
side and remove the Joint #4 counter shaft
unit from the U1 and U2 belts.
Duct plate
3-M5×15
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
4-M4×12
+Washer,
Spring washer
Joint #4 counter
shaft unit
U2 belt U1 belt
Joint #4 motor unit
Joint #4
motor unit
E2C Rev.6