Replacing Joint #2 Motor - Epson G Series Maintenance Manual

6.1 Replacing Joint #2 Motor

Maintenance
AC Servo Motor (150W)
Parts
Hexagonal wrench
Tools
Torque wrench
Nippers
Wiping cloth
Material Wire tie
Grease Grease (SK-2)
Joint #2 motor (1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
(3) Turn OFF the Controller.
(4) Remove the arm top cover.
(5) Remove the battery board.
(6) Remove the user plate.
(7) Cut off the wire tie used for binding the cables connected to the user cable.
(8) Cut off the wire tie used for binding the motor cables to the Joint #2 motor.
(9) Disconnect the following connectors.
(10) Remove the Joint #2 motor unit from Arm #2.
G series Maintenance Rev.3
Name
width across flats: 2 mm
width across flats: 3 mm
width across flats: 4 mm
to keep enough space and prevent the end effector hitting any peripheral equipment.
The brake release switch affects only Joint #3.
pressed, the brake for the Joint #3 is released simultaneously.
Be careful of the shaft while the brake release switch is being pressed because the shaft
may be lowered by the weight of an end effector.
For details, refer to 3.1 Arm Top Cover.
Connectors X221, X21 (Hold the clip to remove.)
Connector X62
If the motor cannot be removed easily, pull it out
while moving Arm #2 slowly by hand.
Also, the motor flange touches the intermediate
pulley and you cannot pull the motor straight
upward. Therefore, tip the motor and pull it
avoiding he intermediate pulley.
G3 Maintenance 6. Joint #2
Quantity Note
1 1514453
1 For M4 set screw
1 For M4 screw
1 For M5 screw
1
1 For cutting wire tie
1 For wiping grease
4
3 g
When the brake release switch is
3-M4×12
141