Replacing Joint #4 Motor - Epson G Series Maintenance Manual

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G6 Maintenance 8. Joint #4

8.1 Replacing Joint #4 Motor

AC Servo Motor (100 W)

Hexagonal wrench

Suitable cord (Length about 800 mm)

A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down

due to the weight of the end effector while the power to the Controller is OFF or while the

motor is in OFF status (MOTOR OFF). (The brake for Joint #4 is only installed to G6-

Note that the brake will not work during the replacement procedure.

Move the shaft down to its lower limit before starting the replacement procedure by

following the removal steps from (1) to (3).

width across flats: 2 mm

width across flats: 3 mm

(For S/N:1**** or later)

For M4 set screw

For M4 screw

For cutting wire tie

Belt tension 70 N (7.1 kgf)

For belt tension

G series Maintenance Rev.3