Replacing Joint #4 Motor; Replacing The Joint #4 Motor: G10 - Epson G Series Maintenance Manual

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8.1 Replacing Joint #4 Motor

The shape and the replacement procedure of the Joint #4 AC servo motor for G10 series and

G20 series are different.

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).

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.

G series Maintenance Rev.3

150W with brake

width across flats: 1.5 mm

width across flats: 2 mm

width across flats: 2.5 mm

width across flats: 3 mm

G10 G20 Maintenance 8. Joint #4

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

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

For M3 set screw

For M4 set screw

For M3 screw

For M4 screw

For cutting wire tie

Belt tension

160 N (16.3 kgf)

Belt tension

200 N (20.3 kgf)

Ring mounting height

For belt tension