Epson G Series Maintenance Manual page 200

G3 Maintenance 11. Ball Screw Spline Unit
Ball screw (1) Turn ON the Controller.
spline unit
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
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 (C with bellows option).
(6) Remove the arm top cover and arm bottom cover.
(7) Remove the battery board from Arm #2.
(8) Remove the user plate and grounding wire from Arm #2.
(9) Disconnect the following connectors.
(10) Remove the motor unit by pulling it up.
(11) Remove the screws securing the ball screw
182
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 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.
Remove the bellows. For details, refer to 10. Bellows.
For details, refer to 3. Covers.
Connectors X231, X31，X341，X41 (Hold the clip to remove.)
Connector X32
Connector X63, X64 (Backup cable connector for Joint #3, #4)
Remove the bolts securing the Joint #4
motor unit.
spline of Arm #3 surface.
When the brake release switch is
2-M4×5
Battery board
2-M4×12
Joint #4
motor unit
3-M4×12 + washer
Joint #2
motor unit
Joint #4
intermediate shaft
3-M4×12
+ washer
3-M4×12 + washer
G series Maintenance Rev.3