Epson C Series Maintenance Manual page 623

6-axis robots

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Removal: Joints #5, #6 Reduction gear unit set

1. Turn OFF the Controller power.

2. Remove the Arm #4 side cover and Arm #3 cover.

For details, refer to C12 Maintenance: 3. Covers.

3. Remove the Joints #5 and #6 motors.

For details, refer to the Removal steps in C12 Maintenance: 9.1 Joint #5 - Replacing the Motor and C12

Maintenance: 10.1 Joint #6 - Replacing the Motor.

4. Remove the cables passing through the Arm #4 as shown in the

For details, refer to the Removal steps in C12 Maintenance: 4.1

5. Remove the Joints #5, #6 reduction gear unit.

Remove the bolts fixing the Arm #4 extension flange, and remove

the Joints #5 and #6 reduction gear unit from the Arm #4 extension

Hexagon socket head cap bolts: 4-M6×20

6. Remove the Arm #4 extension flange.

Hexagon socket head cap bolts: 12-M3×18

C Series Maintenance Manual Rev.2

C12 Maintenance 9. Joint #5