Epson RS Series Maintenance Manual page 72

RS3 RS4 Maintenance 7. Joint #3
(9) Loosen the Z belt.
(10) Remove the Joint #3 motor unit from Arm #2.
(11) Remove the brake unit from the Joint #3 motor
(12) Unscrew the screws securing the pulley to the
62
Loosen four bolts on the Joint #3 motor unit.
Slide the Joint #3 motor unit to the end of the
arm.
Unscrew the bolts securing the Joint #3 motor
unit.
Remove the Z pulley from the Z belt.
Pull the Joint #3 motor unit upward to
remove.
unit.
Joint #3 motor. Press the pulley toward the
plate.
Remove the brake hub.
Remove the pulley and motor plate.
There is a brass bushing in one of the set screw
holes. Be careful not to lose it.
4-M4×15
+ washer
Joint #3
motor unit
Joint #3
motor
unit
Z belt
Pulley
Joint #3
motor
2-M5×8
unit
Joint #3
motor
(14)
2-M4×10
Motor
plate
(12)
M5 bushing
(12)
2-M5×8
Brake hub
set screw
RS series Maintenance Rev.3
Brake
unit
Z pulley