Epson LS20-B Series Manual page 163

Ball Screw (1) Turn ON the Controller.
Spline Unit
(2) Push down the shaft to its lower limit while pressing the brake release switch.
Removal
(3) Turn OFF the Controller.
(4) Detach the wires/tubes from the end effector, and remove the end effector.
(5) This step is only for Cleanroom-model.
(6) Remove the Arm Top Cover and Arm Bottom Cover.
(7) Remove the following parts:
(8) Remove three screws mounting the spline
(9) Remove four screws mounting the spline nut.
(10) Pull out the following toward the Arm #2 upper side.
LS20-B Rev.4
Be sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and Joint #4.
When the brake release switch is pressed, the respective brakes of the Joint #3 and Joint
#4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is being
pressed because the shaft may be lowered by the weight of an end effector.
Remove the bellows. For details, refer to Maintenance: 9. Bellows.
For details, refer to Maintenance: 3. Covers.
Joint #3 motor unit Joint #4 motor unit
For details, refer to the following manuals:
Maintenance 7.1 Replacing Joint #3 Motor
Maintenance 8.1 Replacing Joint #4 Motor
plate.
Ball screw spline unit Z belt U belt
Maintenance 10. Ball Screw Spline Unit
3-M4×15
4-M5×15
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