Replacing The Motors - Epson ES Series Manipulator Manual

Part 2: Maintenance

5. Replacing the Motors

WARNING
CAUTION
NOTE
Motor Types
Description Series
AC servo
motor
Motor Locations
Only trained personnel should be allowed to maintain this unit.
When replacing the motors, make sure the power is turned OFF and pull out the
power plug from the power source. Failure to turn OFF the power can result in
electric shock and malfunction.
Be careful not to apply an excessive shock to the motor shaft when replacing a
motor. This may shorten the life of the motor and encoder. This also may
destroy them.
Never disassemble the motor and encoder. If you do, a position shift will
occur. The motor and encoder cannot be used again in this case.
The mechanical origin position changes when the motor is replaced. As a result, the
previous teach points change. After motor replacement, adjust the origin position as
described in Chapter 11. Calibration.
Specify the Z code when ordering a replacement motor.
Joint
#1
ES
#2, 3, 4
#1
EL #2
#3, 4
Joint #4 countershaft
Joint #3 motor
Specification Serial number
0****
200W-ABS
1****
0****
100W-ABS
1****
0****
400W-ABS
1****
0****
200W-ABS
1****
0****
100W-ABS
1****
Joint #2 motor
Joint #4 motor
Joint #1 motor
5. Replacing the Motors
Old code New code
ZA000614 R13ZA00061400
ZA000625 R13ZA00062500
ZA000613 R13ZA00061300
ZA000624 R13ZA00062400
ZA000615 R13ZA00061500
ZA000626 R13ZA00062600
ZA000614 R13ZA00061400
ZA000625 R13ZA00062500
ZA000613 R13ZA00061300
ZA000624 R13ZA00062400
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