Replacing The Joint #1 Motor - Epson ES Series Manipulator Manual

5. Replacing the Motors

5.1 Replacing the Joint #1 Motor

Removal : Joint #1
108
(1) Open the base connector plate. (Refer to 2. Opening the Covers.)
(2) Remove the two bolts (2-M4×8) from the maintenance plate and remove the
maintenance plate.
∗ If the manipulator is a Protected model, the waterproof cover 1 must be removed
before removing the maintenance plate.
Manipulator in chapter 13. Protected Model.
Maintenance plate
(3) Disconnect the connectors (X110 and X11). To disconnect X110, pull it out while
pushing the presser tongue next to the connector number on the motor side.
(4) Remove the four bolts (M4×15 for the ES series; M5×15 for the EL series) from the
motor flange and pull the motor downward. In this case, insert a hexagon head
wrench from the maintenance hole and remove the two bolts at the maintenance hole
side. If it is difficult to extract the motor, extract it while moving Arm #1 slightly.
Maintenance hole
ES: M4×15
EL: M5×15
×
M4 8
Maintenance hole
Part 2: Maintenance
Refer to the section Sealing the
Motor flange