Epson RS Series Maintenance Manual page 10

TABLE OF CONTENTS
viii
6. Joint #2 ................................................................. 49
6.1 Replacing Joint #2 Motor ........................................................ 50
6.2 Replacing Joint #2 Reduction Gear Unit ................................ 54
6.3 Replacing J2 Belt.................................................................... 59
7. Joint #3 ................................................................. 60
7.1 Replacing Joint #3 Motor ........................................................ 61
7.2 Replacing the Timing Belt ...................................................... 65
7.3 Replacing the Brake ............................................................... 66
8. Joint #4 ................................................................. 68
8.1 Replacing Joint #4 Motor ........................................................ 69
8.2 Replacing the Timing Belt ...................................................... 73
8.3 Replacing the Reduction Gear Unit........................................ 77
9. Bellows ................................................................. 78
10. Ball Screw Spline Unit Replacement .................. 81
11. Lithium Battery ................................................... 88
11.1 Replacing the Battery Unit (Lithium Battery) ........................ 90
11.2 Replacing the Battery Board ................................................ 91
12. LED Lamp .......................................................... 92
13. Calibration .......................................................... 93
13.1 About Calibration .................................................................. 93
13.2 Calibration Procedure ........................................................... 94
13.3 Accurate Calibration of Joint #2 ......................................... 103
13.4 Calibration Procedure without using Calibration Wizard ... 105
14. Maintenance Parts List ..................................... 109
14.1 Common Parts .................................................................... 109
14.2 Parts by Environment Model .............................................. 111
14.2.1 S: Standard-model .................................................... 111
14.2.2 C: Cleanroom-model ................................................. 111
RS series Maintenance Rev.3