Replacing The Joint #4 Motor - Epson ES Series Manipulator Manual

5. Replacing the Motors

5.4 Replacing the Joint #4 Motor

Removal : Joint #4
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(1) Open the arm top cover and arm bottom cover. (Refer to chapter 2. Opening the
Covers.)
(2) Cut off the wire ties which fasten the Joint #4 motor and cables.
(3) Disconnect connectors ,X141 and X41. To disconnect X141, pull it out while pushing
the presser tongue next to the connector number on the motor side.
(4) Remove the four bolts (M4×10) from the motor plate. And remove the pulley from
the U1 belt to remove the Joint #4 motor unit from the arm.
×
M4 10
Motor plate
U2 belt
U1 belt
Part 2: Maintenance
U1 pulley