Replacing Joint #3 Motor - Epson T-B Series Maintenance Manual

T3-B T6-B Maintenance 11. Joint #3

11.1 Replacing Joint #3 Motor

Maintenance
Motor
part
Hexagonal
wrench
Torque wrench
Cross-point screwdriver (No. 2)
Tools
Nippers
Force gage
Suitable cord (Length about 800mm)
Feeler gage (0.5mm)
Material Wire tie
NOTE
A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to the

weight of the end effector while the power to the Manipulator is OFF or while the motor is
in OFF status (MOTOR OFF).
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Joint #3 (1) Turn ON the Manipulator.
Motor
(2) Press and hold the brake release switch to let the shaft down. Be sure to keep enough space
Removal
and prevent the end effector hitting any peripheral equipment.
The brake release switch affects only Joint #3. When the brake release switch is pressed,
the Joint #3 brake is released.
Be careful of the shaft falling while the brake release switch is being pressed because the
shaft may be lowered by the weight of the end effector.
(3) Turn OFF the Manipulator.
(4) Remove the arm top cover.
(5) Cut off the wire tie binding the brake
cables.
84
Name
100W
Width across flats: 1.5 mm
Width across flats: 2.5 mm
Width across flats: 3 mm
Reference: 7.1 Arm Top Cover
Quantity
1 2216544
1 For M3 set screw and M2 screw
1 For M5 set screw
1 For M4 screw
1
1 For cross-recessed screw
1 For cutting wire tie
1 Z: Belt tension 69N (7.0±0.5kgf)
1 For belt tension
For adjusting the pulley securing
2
position
-
Joint #3
motor
Brake
cable
T-B series Maintenance Manual Rev.1
Note
Joint # 2
motor