Replacing The Ball Screw Spline Unit - Epson ES Series Manipulator Manual

9. Replacing the Ball Screw Spline Unit

9.1 Replacing the Ball Screw Spline Unit
Removal
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(1) Remove the end effector from the shaft.
∗ If the manipulator is a Clean model, remove the bellows. Refer to the section 12.2
Replacing the Bellows in chapter 12. Clean Model Maintenance.
∗ If the manipulator is a Protected model, remove the bellows. Refer to the section
13.8 Replacing the Bellows in chapter 13. Protected Model Maintenance.
(2) Remove the Joint #3 motor unit. Refer to section 5.3 Replacing the Joint #3 Motor
steps (1) through (4).
(3) Remove the Z and U2 belts from the shaft. Refer to section 8.3 Replacing the U2 Belt
steps (2) through (6).
(4) Remove the four bolts (M4×10) from the ball screw spline shaft under Arm #2.
M4×10
(5) Pull the ball screw spline unit out of Arm #2.
Part 2: Maintenance