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Maintenance 6. Joint #2
Removal: Joint #2 Motor
■ This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator.
maintenance.
■ Do not loosen the bolts while the Arm #2 is not tilted.
CAUTION
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 before removing the motor.
1. Turn ON the Controller power.
2. Release the Joint #2 brake. Tilt the Arm #2 and push it against
the Arm #1.
The Arm #2 falls by its own weight when the Joint #2 motor unit
is removed. Therefore, release the brake and tilt the Arm #2 in
advance.
Put a cloth between the Arm #1 and Arm #2 so that the arms do
not touch each other.
Command:
EPSON
RC+
>brake off, 2
■ 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.
CAUTION
3. Turn OFF the Controller power.
4. Remove the Arm #1 center cover and the Arm #1 side cover.
For details, refer to Maintenance: 3. Covers.
5. Remove the heat dissipation block and the heat dissipation
sheet from the Arm #1.
Hexagon socket head cap bolts: 2-M4×10
The heat dissipation sheet attached to the motor unit will be
used again. Be careful not to tear and lose it.
218
Be very careful when performing
C8 Rev.13
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