Epson ES Series Manipulator Manual page 133

Part 2: Maintenance
(12) Install the arm top cover and arm bottom cover. (Refer to chapter 2. Opening the
Covers.)
(13) If the manipulator is a Protected model, seal the arm top cover and arm bottom covers.
Refer to the section Sealing the Manipulator in chapter 13. Protected Model
Maintenance.
(14) The mechanical origin position and teach points will change when the motor is replaced.
Be sure to calibrate Joint #3. (Refer to chapter 11. Calibration.)
5. Replacing the Motors
121