Replacing The U2 Belt - Epson E2C Series Manipulator Manual

8.5 Replacing the U2 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) Cut off the wire tie binding the motor cables to the Joint #3 motor.
(5) Disconnect the connectors X131, X31, and X32.
(6) Remove the Joint #3 motor unit from Arm
E2C Rev.6
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
motor, and cables together.
To disconnect the X131 connector, pull it out while pushing the projection next to the
connector.
#2.
To do so, unscrew the bolts from the Joint
#3 motor plate. Then, remove the Z belt
from the pulley and pull the Joint #3 motor
unit upward to remove it.
Maintenance 8. Replacing the Timing Belts (U2 Belt)
Z belt
4-M4×12
+Washer,
Spring washer
Duct plate
3-M5×15
Pulley
Joint #3 motor unit
Motor plate
159