Joint #4 - Replacing The Motor; Removal: Joint #4 Motor - Epson C Series Maintenance Manual

6-axis robots

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C4 Maintenance 8. Joint #4

8.1 Joint #4 - Replacing the Motor

AC servo motor 50 W

Cross-point screwdriver

1. Turn OFF the Controller power.

2. Remove the Arm #3 head cover and the Arm #3 bottom cover.

For details, refer toC4 Maintenance: 3. Covers.

3. Pull out the cables from the Arm #3 and disconnect the following

Connector: X141, X041, BT4, BR041

(Hold the clip to remove.)

4. Remove the plate of the control board.

For details, refer to C4 Maintenance: 13.2 Joint #2 – Replacing the Motor, Installation steps (3) through

5. Remove the Joint #4 motor unit from the Arm #3.

Hexagon socket head cap bolts: 2-M4×15 (with a small plain washer)

width across flats: 1.5 mm

width across flats: 3 mm

For the part code, refer to the 17. C4

Maintenance Part List.

For M3 hexagon socket set screws

For M4 hexagon socket head cap bolts

For belt tension adjustment

C Series Maintenance Manual Rev.2

Protect arms

using cloth, etc.