Epson C Series Maintenance Manual page 579

Removal: Joint #3 Motor
■ This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator. Be very careful when conducting maintenance.
■ Do not loosen the bolts while the Arm #3 is not tilted.
CAUTION
It may cause the belt come off and the Arm #3 falls down, and it is extremely
hazardous. Be sure to do the Removal steps 1 and 2 before removing the motor.
1. Turn ON the Controller power.
2. Release the Joint #3 brake. Tilt the Arm #3 and push it against the
Arm #2.
The Arm #3 falls by its weight when the Joint #3 motor unit is
removed. Therefore, release the brake and tilt the Arm #3 in
advance.
EPSON
RC+
■ There is a possibility of hands and fingers being caught and/or damage or
malfunction to the Manipulator. Be very careful when moving the Manipulator.
Put a cloth between the Arm #2 and Arm #3 so that the arms do not touch each
CAUTION
other.
3. Turn OFF the Controller power.
4. Remove the Arm #2 side cover.
For details, refer to C12 Maintenance: 3. Covers.
5. Disconnect the following connectors.
Connector: X131, X031, BT3, BR031
(Hold the clip to remove.)
NOTE

Be careful not to drop the removed connectors inside the Arm.
C Series Maintenance Manual Rev.2
Command:
>brake off, 3
C12 Maintenance 7. Joint #3
559