Epson VT Series Maintenance Manual page 88

VT6L Maintenance 10. Joint #2
Joint #2 Motor (1) Turn ON the Manipulator.
Removal
(2) Release the Joint #2 brake. Tilt the Arm #2 and push it against the Arm #1.
NOTE

(3) Turn OFF the Manipulator.
(4) Remove the Arm #2 Cover.
(5) Cut off the wire tie bound inside the Arm #2.
NOTE

(6) Remove the cable fixing plate on the Arm #2.
(7) Loosen the mounting screws of the Joint #2 motor
(8) Remove the motor unit from the Arm #2.
(9) Disconnect the following connectors from the AMP board.
76
The Arm #2 falls by its weight when the Joint #2 motor unit is removed. Therefore,
release the brake and tilt the Arm #2 in advance.
Command
EPSON
RC+
>brake off, 2
When pushing the arm, push the Arm #2 slowly to the Arm #1.
If a strong impact is applied to the joint, the Manipulator may get damage.
Reference: 7.2 Arm #2 Cover.
Wire tie : AB150 × 3
AB100 × 2
Be careful not to cut the harness.
(Joint #2 side)
Hexagon socket head cap bolts with captive
washer: 2-M4×12
unit and remove the Joint #2 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
A: Power cable connector
B: Brake connector
C: Signal connector (for AMP board)
D: Motor connector
VT series Maintenance Manual Rev.2
Wire ties × 3
A
C
B
D