Epson VT Series Maintenance Manual page 98

VT6L Maintenance 11. Joint #3
Joint #3 Motor (1)
Removal
(2)
NOTE

(3)
(4)
(5)
NOTE

(6)
(7)
(8)
(9)
86
Turn ON the Manipulator.
Release the Joint #3 brake. Tilt the Arm #3 and push it against the Arm #2.
The Arm #3 falls by its weight when the Joint #3 motor unit is removed. Therefore,
release the brake and tilt the Arm #3 in advance.
Command
EPSON
RC+
>brake off, 3
When pushing the arm, push the Arm #3 slowly to the Arm #2.
If a strong impact is applied to the joint, the Manipulator may get damage.
Turn OFF the Manipulator.
Remove the Arm #2 cover.
Reference: 7.2 Arm #2 Cover
Cut off the wire tie bound inside the Arm #2.
Wire tie : AB150 × 3
AB100 × 2
Be careful not to cut the harness.
Remove the cable fixing plate on the Arm #2.
(Joint #3 side)
Hexagon socket head cap bolts with captive
washer: 4-M4×12
Loosen the mounting screws of the Joint #3 motor
unit and remove the Joint #3 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Remove the Arm #2 from the motor unit.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Disconnect the following connectors from the AMP board.
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
VT series Maintenance Manual Rev.2
Wire ties × 3
A
C
B
D