Epson C Series Maintenance Manual page 299

6-axis robots

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Table of Contents

Removal: Joint #1 Reduction gear unit (M/C Cable Backward)

■ This procedure has possibility of hands and fingers being caught and/or damage

or malfunction to the Manipulator. Be very careful when performing

maintenance.

■ Do not loosen the bolts while the Arm #2 is not tilted.

It may cause the belt come off and the Arm #2 falls down, and it is extremely

hazardous. Be sure to do the Removal steps (1) and (2) in C8 Maintenance 6.1

Joint #2 - Replacing the Motor before removing the motor.

■ When removing the Arm #1, there must be two or more people to work on it so

that at least one of them can support the arm while the others are removing the

bolts. Removing the bolts without supporting the arm may result in the arm

falling, bodily injury, and/or malfunction of the robot system.

1. Remove the following parts.

Connector plate

Cable grounding plate

Brake power supply

For details, refer to C8 Maintenance 5.1.3 Joint #1 - Replacing the Timing Belt (M/C Cable Backward),

Removal steps (1) to (9).

2. Remove the ground terminals.

Cross recessed head screws with washer

S, C models : 9-M4×8, 2-M3×6

3. Disconnect the following parts from the hole inside the base.

RJ45 connector

F-sensor connector

4. Remove the Joint #1 motor unit.

For details, refer to C8 Maintenance 5.1.1 Joint #1 – Replacing the Motor Unit (M/C Cable Backward),

Removal steps (6) to (7).

C Series Maintenance Manual Rev.2

: 10-M4×8, 2-M3×6

C8 Maintenance 5. Joint #1