Epson G Series Maintenance Manual page 310

G6 Maintenance 8. Joint #4
U2 belt (1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
(3) Turn OFF the Controller.
(4) Remove the arm top cover and the arm bottom cover.
(5) Cut off the wire tie used for binding the motor cables to the Joint #3 motor.
(6) Disconnect the following connectors.
(7) Remove the Joint #3 motor unit from Arm #2.
(8) Loosen the bolts securing the Joint #4 motor unit.
(9) Loosen the bolts securing the Joint #4
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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 #4. When the brake release
switch is pressed, the respective brakes for Joints #3 and #4 are released
simultaneously. (The brake for Joint #4 is only installed to G6-**3**.)
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.
For details, refer to 3. Covers.
Connectors X231, X31 (Hold the clip to remove.)
Connector X63, X32
Remove the bolts securing the Joint #3 motor
plate. Remove the Z belt from the pulley.
Pull the Joint #3 motor unit upward to remove.
intermediate shaft unit.
Z belt
Pulley
Joint #3
4-M4×12
motor unit
+ Washer
Joint #4 Joint #4
motor unit intermediate
shaft unit
6-M4×12 + Washer
G series Maintenance Rev.3