Joint #3 - Replacing The Motor (With A Brake); Removal: Joint #3 Motor (With A Brake) - Epson C Series Maintenance Manual

6-axis robots

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C4 Maintenance 7. Joint #3

7.1 Joint #3 - Replacing the Motor (with a Brake)

AC servo motor 150 W (with a brake)

Noise dissipative diode

Cross-point screwdriver

Torque wrench

The brake is mounted on the Joint #3 to prevent the arm from lowering due to its own weight while the Controller

power is OFF or the motor is OFF status. However, the brake does not work during replacement.

To replace the Joint #3 motor (with a brake), tilt the Arm #3 and press it toward the Arm #2. (See the step (2).)

When pressing the arm, put a cloth or a similar material between the arms to avoid them from contacting. This

also protects the arm surfaces and coatings.

1. Turn ON the Controller power.

2. Tilt the Arm #3.

Put a cloth between the Arm #2 and the Arm #3 so that two arms

do not touch each other.

3. Turn OFF the Controller power.

4. Remove the Arm #2 side cover.

For details, refer to C4 Maintenance: 3. Covers.

width across flats: 2 mm

width across flats: 3 mm

For the part code, refer to the 17. C4

Maintenance Part List.

For M4 hexagon socket set screws

For M4 hexagon socket head cap bolts

For pressing arms

For belt tension adjustment

C Series Maintenance Manual Rev.2

Protect arms

using cloth, etc.