Epson C12 Series Manipulator Manual page 199

Removal: Joint #1 Electromagnetic brake (M/C Cable Downward)
1. Remove the Joint #1 brake plate from the Joint #1 motor unit.
For details, refer to Maintenance: 5.2.1 Joint #1-Replacing the Motor (M/C Cable Downward),
Removal steps (1) to (6).
NOTE

Do not disconnect the connector BT1. If the connector is disconnected, perform calibration.
2. Remove the Joint #1 brake from the brake plate.
Hexagon socket head cap bolts: 3-M4×25
C12 Rev.3
Maintenance 5. Joint #1
185