Epson C8-B Service Manual
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Epson C8-B Service Manual

6-axis robots
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EPSON
6-Axis Robots
C8-B/C12-B
Service Manual
Rev.1
ENSM237C0023
Disclosure Scope: Maintenance Trained Personnel Only

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Summary of Contents for Epson C8-B

  • Page 1 EPSON 6-Axis Robots C8-B/C12-B Service Manual Rev.1 ENSM237C0023 Disclosure Scope: Maintenance Trained Personnel Only...
  • Page 2  The company names and product names described in this service manual are the trademarks or registered trademarks of the respective company. EPSON is the registered trademark of Seiko Epson Corporation. Other product names are trademarks or registered trademarks of the respective company.

  • Page 3: Revision History

    C8-B/C12-B Service Manual Disclosure Scope: Maintenance Trained Personnel Only Revision History If, even after the establishment and issue of the first edition of this manual, changes are made in the mechanism or parts of the product with the purpose of improving the performance and reliability, revised editions shall be issued as necessary. Always use this manual after ensuring that it is the latest version.

  • Page 4: Table Of Contents

    C8-B/C12-B Service Manual Disclosure Scope: Maintenance Trained Personnel Only Table of Contents 2.3.4 Joint #1 Replacing the Reduction Gear Unit ......2-39 Chapter 1 Maintenance Information 2.4 Joint #2 ................2-42 2.4.1 Joint #2 Replacing the Timing Belt .......... 2-42 1.1 Safety Maintenance ...............
  • Page 5 5.1.2 C12-B ..................5-6 2.14.9 Arm3 Maintenance Cover............. 2-339 5.2 Maintenance Parts List ............5-11 2.14.10 Arm4 Side Cover ..............2-343 5.2.1 C8-B ..................5-11 2.14.11 Arm4 Maintenance Cover ..........2-347 5.2.2 C12-B ..................5-13 2.14.12 Arm4 D-sub Attachment ............. 2-350 2.14.13 Connector Plate (M/C Cable Backward) (C8L) ....
  • Page 6 CHAPTER 1Maintenance Information...

  • Page 7: Safety Maintenance

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.1 Safety Maintenance Maintenance of robot system shall always be performed by personnel who has taken safety training. Personnel who has taken safety training refers to a person who has taken safety training for workers engaged in activities related to industrial robots as stipulated by the laws and regulations of each country (such as the knowledge on industrial robots, knowledge on operations and teaching, knowledge on activities concerning inspection, etc., and training on related laws).
  • Page 8 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only ⚫ Do not allow foreign objects to enter the inside of the manipulator or the connection terminals. Energizing the manipulator with foreign objects in it may cause electric shock or malfunction, which is extremely dangerous.

  • Page 9: General Maintenance

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2 General Maintenance Performing maintenance inspections properly is essential for preventing trouble and maintaining safety. This chapter describes the schedules for maintenance inspection and procedures. Be sure to perform the maintenance inspections in accordance with the schedule.

  • Page 10: Inspection Point

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.2 Inspection Point Inspection Item Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual      End effector mounting bolts Check looseness or backlash of ...
  • Page 11 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inspection Point Inspection Method Check for bends or Check that the safeguard, etc. are located properly. improper location. Repair If the location is improper, place it properly. or place it properly if necessary.

  • Page 12: Overhaul (Parts Replacement)

    However, it may vary depending on usage condition and degree of the load (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator. For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the NOTE parts subject to maintenance (Motors, Reduction Gears, and Timing Belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
  • Page 13 Disclosure Scope: Maintenance Trained Personnel Only How to View the Maintenance Information The configured maintenance information can be checked in the EPSON RC+ 7.0 Ver.7.2.x or later. 1. Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller Tools] dialog box.
  • Page 14 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 3. Select “General” or specify the axis from the tree to display information of the target parts. Remaining months is calculated based on the past operation conditions. NOTE (C) Seiko Epson Corporation...
  • Page 15 When replaced the parts subject to maintenance (Motors, Reduction Gears, and Timing Belts), please edit the Maintenance Information. 1. Select the EPSON RC+ 7.0 menu- [Tools] - [Maintenance] to display the [Controller Tools] dialog box. 2. To edit the maintenance information, display the [Maintenance] dialog box.
  • Page 16 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 4. Select the alarm to be changed and click the <Change> button. 5. Display the [Change Alarm] dialog box and enter any of the followings. 6. Click the <OK> button and change the specified alarm information.
  • Page 17 3. Select the folder where the information is stored. 4. Click <OK> to view the [Controller Status Viewer] dialog. 5. Select [Robots] from the tree menu on the left side (Dialog image: EPSON RC+ 7.0) (C) Seiko Epson Corporation 1-11...

  • Page 18: Greasing

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.4 Greasing The reduction gear units and the bevel gear need greasing regularly. Only use the grease specified in the following table. ⚫ Before greasing, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source.
  • Page 19 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Joint #1, 2, 3, 4, 5, 6 Reduction Gears As a rough indication, perform greasing at the same timing as overhaul. However, it may vary depending on ambient temperature, usage condition and degree of the load (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator.
  • Page 20 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inject grease from the grease nipple using a grease gun. SK-1A: 11 g Grease Gun Remove the grease nipple from the Joint #1 grease inlet. Attach the grease plug to the Joint #1 grease inlet.
  • Page 21 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Joint #1 Reduction Gear Unit (Ceiling Mounting, Wall mounting) Remove the base grease inlet cover. Hexagon socket flat head bolts: 4-M3x6 Base grease inlet cover Remove the O-ring located in the base groove.
  • Page 22 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inject grease from the grease nipple using a grease gun. SK-1A: 11 g Grease Gun Remove the grease nipple and grease line extension jig from the Joint #1 grease inlet.
  • Page 23 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Install the base grease inlet cover. Hexagon socket flat head bolts: 4-M3x6 (2.0 +/- 0.1 N·m) Base grease inlet cover Joint #2 Reduction Gear Unit Remove the grease plug from the Joint #2 grease inlet of the Arm #1.
  • Page 24 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inject grease from the grease nipple using a grease gun. SK-1A: 6 g (C8L), 12 g (C8XL, C12XL) Grease Gun Remove the grease nipple from the Joint #2 grease inlet.
  • Page 25 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Joint #3 Reduction Gear Unit Remove the grease plug from the Joint #3 grease inlet of the Arm #2. Attach the grease nipple to the Joint #3 grease inlet.
  • Page 26 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Attach the grease plug to the Joint #3 grease inlet. POINT If the grease plug is damaged or deteriorated, replace it with a new one. Joint #4 Reduction Gear Unit Remove the grease plug from the Joint #4 grease inlet of the Arm #4.
  • Page 27 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Attach the grease nipple to the Joint #4 grease inlet. CAUTION The grease plug attaching hole located near the label with “4” printed is the Joint #4 grease inlet.
  • Page 28 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Attach the grease plug to the Joint #4 grease inlet. POINT If the grease plug is damaged or deteriorated, replace it with a new one. Joint #5 Reduction Gear Unit Remove the grease plug from the Joint #5 grease inlet of the Arm #5.
  • Page 29 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Attach the grease nipple to the Joint #5 grease inlet. CAUTION The grease plug attaching hole located near the label with “5” printed is the Joint #5 grease inlet.
  • Page 30 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Attach the grease plug to the Joint #5 grease inlet. POINT If the grease plug is damaged or deteriorated, replace it with a new one. Joint #6 Reduction Gear Unit Remove the grease plug from the Joint #6 grease inlet of the Arm #5.
  • Page 31 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inject grease from the grease nipple using a grease gun. SK-2: 0.5 g CAUTION Be careful not to mix with the grease used in the Joint #5 (SK-1A). Grease Gun Remove the grease nipple from the Joint #6 grease inlet.
  • Page 32 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Joint #6 Bevel Gear Remove the Arm #5 grease inlet cover. S01: 4-M3x6 Apply grease to the mating surface of the bevel gear inside the Arm #5. SK-2: 2 g...
  • Page 33 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only If any swelling, damage or deterioration is observed in the O-ring, replace the O-ring using the following procedure. 1. Lightly coat the O-ring with grease (SK-2). 2. Install the O-ring in the groove in the base.

  • Page 34: Tools/Materials

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.5 Tools/Materials Tools used Name Quantity Note width across flats: 1.5 mm For M3 hexagon socket head set screws For M2.5 silver and black hexagon socket head cap screws, and for M4...
  • Page 35 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Materials used Name Quantity Note Grease Proper quantity For details, refer to 1.2.4 Greasing. Liquid gasket Proper quantity For preventing oil leaks and securing parts Adhesive Proper quantity For securing parts...

  • Page 36: Tightening Bolts/Screws

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.6 Tightening Bolts/Screws In the manual, bolts and screws that are removed or installed for maintenance are shown below. Unless otherwise specified, when re-tightening these bolts for maintenance tasks described in the manual, use a torque wrench and tighten them to the tightening torques noted in the table below.
  • Page 37 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Type Description Size Tightening torque (N·m) Cross recessed binding head screw 0.45 +/- 0.1 （DC/DC Board） We recommend that the bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below.

  • Page 38: Parts Layout

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.3 Parts Layout Gyro Board 1 J5 Reduction Gear J5 Motor unit J4 Reduction Gear Gyro Board 2 J3 Timing Belt J4 Timing Belt J4 Motor unit J5 Timing Belt...
  • Page 39 C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only J6 Timing Belt J6 Reduction Gear J3 Reduction Gear J6 Motor unit J2 Reduction Gear (C) Seiko Epson Corporation 1-33 Rev.1...

  • Page 40: Difference Between M/C Cable Backward Model And M/C Cable Downward Model

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.4 Difference between M/C Cable Backward model and M/C Cable Downward model 1.4.1 Connector Plate M/C Cable Backward model M/C Cable Downward model (C) Seiko Epson Corporation 1-34 Rev.1...

  • Page 41: Base Cover

    C8-B/C12-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.4.2 Base Cover M/C Cable Backward model M/C Cable Downward model (C) Seiko Epson Corporation 1-35 Rev.1...
  • Page 42 CHAPTER 2Maintenance...

  • Page 43: Overview

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.1 Overview 2.1.1 Precautions for Maintenance • Perform disassembly and assembly according to the procedures described in the manual. • The parts for the Reduction Gear Unit are managed with serial numbers. Before installing parts, make sure the serial numbers of each match.

  • Page 44: Viewing The Maintenance Page

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.1.2 Viewing the Maintenance Page Each page is configured as shown below. Top page of each section The exploded view shows all parts and units that need to be removed and reinstalled in the Notation of product names in the manual section.
  • Page 45 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Body page for instructions Work sequence  The white circle numbers (e.g. ) are the step numbers for removing or disassembling the unit or component.  Black circle numbers (e.g.

  • Page 46: Joint #1 (M/C Cable Backward)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2 Joint #1 (M/C Cable Backward) 2.2.1 Joint #1 Replacing the Timing Belt J1 Brake and Brake Plate S01: 3-M4x20 J1 Timing Belt S01: 3-M6x30 and washer J1 Motor Unit...
  • Page 47 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Remove the following parts. • Base Maintenance Cover • Connector Plate (M/C Cable Backward: C8L), (M/C Cable Backward: C8XL, C12XL) • J1 Motor unit ...
  • Page 48 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Assemble the J1 Timing Belt and Cable Unit.  Perform step Installing the Cable Unit. Install the following parts. • J1 Motor unit • Connector Plate...

  • Page 49: Joint #1 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.2 Joint #1 Replacing the Motor Unit S06: 6-M4x10 S01: 3-M4x20 Base Maintenance Cover J1 Brake Connector Plate and Brake Plate J1 Timing Belt S01: 3-M6x30 and washer S01: 11-M4x10...
  • Page 50 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the Base Maintenance Cover. Remove the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL POINT Disconnect the required connectors according to the following procedure. Here, only remove the Connector Plate.
  • Page 51 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only <C8XL/C12XL only> Removing the Motor Unit Remove the Heat Radiation Block and the Radiation Sheet. 1. Cut the wire tie (AB350), and remove the Heat Radiation Block. 2. Remove the Radiation Sheet.
  • Page 52 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J1 brake plate. Removing the Motor Unit S01: 3-M4x20 J1 brake plate Loosen the screws securing the J1 Motor Plate to the base, and remove the J1 Timing Belt from pulley 1.
  • Page 53 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the loosened screws, then remove the J1 Motor unit. Removing the Motor Unit POINT The J1 Motor unit can be removed from the Connector Plate side. CAUTION The Radiation Sheet may be left inside the base. It will be used again during installation of the Motor Unit, so remove it from inside the base.
  • Page 54 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Install the J1 Motor unit. 1. Check that the Radiation Sheet is installed in the position shown in the figure. If a protective film is applied to the Radiation Sheet, remove the film.
  • Page 55 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Set the J1 Timing Belt around pulley 2, and hold the belt so that it does not fall. Installing the Motor Unit Pulley 2 Pulley 1 J1 Timing Belt 3.
  • Page 56 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit • Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Wrong Correct Pulley Timing Belt • The standard for temporary fastening is where the Motor Unit can be moved by hand and will not tilt when pulled.
  • Page 57 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only <C8XL/C12XL only> Installing the Motor Unit If the Heat Radiation Block has been removed, install using the following procedure. 1. Check that the Radiation Sheet is applied to the Heat Radiation Block.
  • Page 58 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Insert the end of the wire tie (AB350) in the gap under the motor. Installing the Motor Unit Wire tie 4. Hold the end of the wire tie. Wire tie 5.
  • Page 59 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Wrap the wire tie around the motor, and tighten so that the Heat Radiation Block Installing the Motor Unit presses on the Motor Unit. Heat Radiation Block Wire tie...
  • Page 60 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Check that the motor and the brake center are aligned. Installing the Motor Unit CAUTION Use dedicated tools to check that the motor and the brake center are aligned. Misalignment of the brake center may cause abnormal sounds or apply abnormal torque on the brake, which may result in malfunction of the brake.
  • Page 61 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the J1 brake plate, and remove the J1 brake positioning jig. Installing the Motor Unit S01: 3-M4x20 (4.0 +/- 0.2 N·m) J1 brake plate J1 brake positioning jig Secure the brake cable to the J1 Motor Plate shaft with a wire tie (AB100).
  • Page 62 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J1 Motor Connectors (CN111, CN311, CN410). Installing the Motor Unit Install the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL Install the Base Maintenance Cover.

  • Page 63: Joint #1 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.3 Joint #1 Replacing the Brake J1 Brake Plate S01: 3-M4x20 J1 Brake S06: 6-M4x10 S01: 3-M4x25 Base Maintenance Cover S01: 11-M4x10 Connector Plate (C) Seiko Epson Corporation 2-21 Rev.1...
  • Page 64 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake     Perform steps Removing the J1 Motor Unit. Remove the J1 brake from J1 brake plate. J1 brake plate S01: 3-M4x25 J1 brake (C) Seiko Epson Corporation 2-22 Rev.1...
  • Page 65 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Install the J1 brake on the brake plate. S01: 3-M4x25 (4.0 +/- 0.2 N⋅m) J1 brake POINT Install with the orientation shown in the figure. Brake plate...

  • Page 66: Joint #1 Replacing The Reduction Gear Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.4 Joint #1 Replacing the Reduction Gear Unit S03: 3-M3x15 with washer Arm1 Side Cover Gyro Board 1 S06: 4-M4x10 J1 Timing Belt Arm1 Center Cover S02: 15-M6x30 and washer...
  • Page 67 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the Base Maintenance Cover. Remove the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL Remove the J1 Motor unit. Remove the J2 Motor unit.
  • Page 68 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Remove Arm1. Removing the Reduction Gear Unit S02: 15-M6x30 and washer CAUTION Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 69 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit Install the J1 Reduction Gear Unit. S02: 12-M6x50 (18.0 +/- 0.9 N⋅m) J1 Reduction Gear Unit POINT Align the three bolt heads on the bottom of the J1 Reduction Gear Unit with the indentations on the base, and set the Reduction Gear Unit on the base.
  • Page 70 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install Arm1. Installing the Reduction Gear Unit S02: 15-M6x30 and washer (18.0 +/- 0.9 N⋅m) WARNING Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 71 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J1 Motor unit. Installing the Reduction Gear Unit Install the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL Install the Base Maintenance Cover. After assembly, perform calibration of Joint #1.

  • Page 72: Joint #1 (M/C Cable Downward)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3 Joint #1 (M/C Cable Downward) 2.3.1 Joint #1 Replacing the Timing Belt J1 Brake and Brake Plate S01: 3-M4x20 J1 Timing Belt S01: 3-M6x30 and washer J1 Motor Unit...
  • Page 73 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Turn the Manipulator laterally. CAUTION When turning the Manipulator laterally, there must be two or more people to work on it so that at least one of them can support the arm while the others are removing the bolts.
  • Page 74 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Assemble the J1 Timing Belt and Cable Unit.  Perform step Installing the Cable Unit. Install the following parts. • J1 Motor Unit • Connector Plate (M/C Cable Downward) •...

  • Page 75: Joint #1 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.2 Joint #1 Replacing the Motor Unit S06: 6-M4x10 Base Maintenance Cover S01: 3-M4x20 Base Cover J1 Brake and Brake Plate S01: 11-M4x10 J1 Timing Belt S01: 3-M6x30 and washer...
  • Page 76 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the following covers. • Base Maintenance Cover • Base Cover (M/C Cable Downward: C8L), (M/C Cable Downward: C8XL, C12XL) • Connector plate (M/C cable downward) Disconnect the cables from the base and disconnect the following connectors.
  • Page 77 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Install the J1 Motor unit.   Perform steps Installing the J1 Motor Unit of the "Joint #1 (M/C Cable Backward)". Connect the following connectors. Connector: CN111, CN311, CN410 Install the following covers.

  • Page 78: Joint #1 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.3 Joint #1 Replacing the Brake S06: 6-M4x10 S01: 3-M4x20 Base Maintenance Cover J1 Brake Plate J1 Brake S01: 3-M6x30 and washer Base Cover Connector Plate S01: 11-M4x10 S01: 8-M4x10...
  • Page 79 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake   Perform steps Removing the J1 Motor Unit of the "Joint #1 (M/C Cable Downward)".   Perform steps Removing the J1 Motor Unit of the "Joint #1 (M/C Cable Backward)".
  • Page 80 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Install the J1 brake on the brake plate. S01: 3-M4x25 (4.0 +/- 0.2 N⋅m) J1 brake POINT Install with the orientation shown in the figure. Brake plate...

  • Page 81: Joint #1 Replacing The Reduction Gear Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.4 Joint #1 Replacing the Reduction Gear Unit Arm1 Side Cover Gyro Board 1 S03: 3-M3x15 with washer S06: 4-M4x10 J1 Timing Belt S02: 15-M6x30 and washer Arm1 Center Cover...
  • Page 82 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the J1 Motor unit. Remove the J1 Reduction Gear Unit.   Perform steps Removing the J1 Reduction Gear Unit of the "Joint #1 (M/C Cable Backward)".
  • Page 83 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit Install the J1 Reduction Gear Unit.   Perform steps Installing the J1 Reduction Gear Unit of the "Joint #1 (M/C Cable Backward)". Install the J1 Motor unit.

  • Page 84: Joint #2

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4 Joint #2 2.4.1 Joint #2 Replacing the Timing Belt S06: 5-M4x10 J2 Timing Belt Arm1 Side Cover Arm1 Center Cover S06: 4-M4x10 (C) Seiko Epson Corporation 2-42 Rev.1...
  • Page 85 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn ON the controller. Release the J2 brake, and manually push and move Arm2 until it comes in contact with the mechanical stopper, and push it against Arm1.
  • Page 86 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws securing the J2 Motor unit. Removing the Timing Belt S01: 3-M5x25 and washer J2 Motor unit WARNING Loosening the screws while Arm2 is not tilted will result in the belt coming off and Arm2 falling, which is very dangerous.
  • Page 87 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J2 Timing Belt. POINT • First place the belt on pulley 2. Pulley 2 Timing Belt J2 Motor unit Pulley 1 • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 88 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is...

  • Page 89: Joint #2 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.2 Joint #2 Replacing the Motor Unit Arm1 Side Cover S06: 4-M4x10 Arm1 Side Cover S06: 5-M4x10 S01: 3-M5x25 and washer Arm1 Center Cover S06: 4-M4x10 J2 Motor Unit (C) Seiko Epson Corporation 2-47 Rev.1...
  • Page 90 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn ON the controller. Release the J2 brake, and manually push and move Arm2 until it comes in contact with the mechanical stopper, and push it against Arm1.
  • Page 91 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Disconnect the J2 Motor Connectors (CN121, CN321, CN420), and cut the wire tie binding Removing the Motor Unit CN420. Wire tie CN420 CN121 CN321 Remove the loosened screws, then remove the J2 Motor unit.
  • Page 92 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Brake Hub Motor Pulley S05: 2-M5x12 J2 brake Motor Plate S05: 2-M6x6 J2 Motor unit S01: 4-M6x20 (C) Seiko Epson Corporation 2-50 Rev.1...
  • Page 93 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J2 Motor unit. Motor Unit Disassembly Remove the Motor Pulley unit. POINT Remove the Motor Pulley and the Brake Hub together. 1. Loosen the two screws on the D-cut surface of the motor shaft when viewing the J2 Motor unit from above.
  • Page 94 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J2 brake. Motor Unit Disassembly S05: 2-M6x6 (Brass bushing x 1) CAUTION A brass bushing is included on one of the set screws. Be careful not to drop and lose the bushing.
  • Page 95 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 4-M6x20 (13.0 +/- 0.6 N⋅m) Motor Plate J2 Motor POINT Attach the Motor Plate according to the orientation shown in the figure.
  • Page 96 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J2 brake. Motor Unit Assembly CAUTION If the screw positions are incorrect or the bushing is not set, this may cause damage on the side, and may result in the part being unable to be removed.
  • Page 97 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Install the bushing on the side of the J2 brake without the D-cut surface. Motor Unit Assembly J2 brake D-cut surface Bushing • Tighten the screws while pressing the J2 brake against the Motor Plate.
  • Page 98 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Motor Pulley unit to the J2 Motor unit. Motor Unit Assembly 1. Insert the Motor Pulley so that the set screw positions align with the motor shaft D-cut surfaces.
  • Page 99 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Secure the Motor Pulley unit to the shaft. Motor Unit Assembly Brake Hub S05: 2-M5x12 (4.0 +/- 0.2 N⋅m) Motor Pulley POINT Place feeler gauges (0.5 mm) between the Motor Pulley and the brake, to ensure a 0.5- mm gap during installation.
  • Page 100 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J2 Motor unit inside Arm2. Install the J2 Timing Belt.   Perform steps Connect the J2 Motor Connectors (CN121, CN321, CN420). CN420 CN121 CN321 Bind CN420 (J2 brake cable), CN3 (gyro cable), and other cables.
  • Page 101 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Arm1 center cover. Installing the Motor Unit Install the Arm1 side cover. After assembly, perform calibration of Joint #2. 3.2 Calibration (C) Seiko Epson Corporation 2-59 Rev.1...

  • Page 102: Joint #2 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.3 Joint #2 Replacing the Brake Arm1 Side Cover S06: 4-M4x10 J2 Motor Unit J2 Brake Motor Pulley J2 Timing Belt S05: 2-M6x6 Arm1 Center Cover S05: 2-M5x12 S06: 5-M4x10...
  • Page 103 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J2 Motor Unit Disassembly and remove the J2 brake. (C) Seiko Epson Corporation 2-61 Rev.1...
  • Page 104 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J2 Motor Unit Assembly and install the J2 brake. (C) Seiko Epson Corporation 2-62 Rev.1...

  • Page 105: Joint #2 Replacing The Reduction Gear

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.4 Joint #2 Replacing the Reduction Gear Arm1 Side Cover S06: 4-M4x10 Arm2 O-ring Wave Generator Unit C8L: S02: 16-M5x30 and washer C8XL: S02: 16-M6x35 and washer S02: 8-M6x25 O-ring...
  • Page 106 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear <Preparation> Prepare a work stand upon which to place the arm removed from the Manipulator. Guidelines for work stand Width x Depth: 1.0 x 0.5 m...
  • Page 107 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J2 Timing Belt. Removing the Reduction Gear Remove the Arm1 side arm. S02: 8-M6x25 and washer (C) Seiko Epson Corporation 2-65 Rev.1...
  • Page 108 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J2 pulley 2. Removing the Reduction Gear S05: 2-M5x10 Pulley 2 CAUTION • A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 109 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • <C8XL/C12XL only> Removing the Reduction Gear Remove the key from the shaft. The key will be used again during installation, so be careful not to lose it when performing the work.
  • Page 110 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove Arm2. Removing the Reduction Gear C8L: S02: 16-M5x30 and washer C8XL: S02: 16-M6x35 and washer CAUTION • Remove the bolts to remove the Arm1 side arm and Arms 2, 3, 4, 5, and 6 (end effector).
  • Page 111 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the wave washer. Removing the Reduction Gear CAUTION The wave washer will be used again. Be careful not to lose it when performing the work. POINT The part has grease applied. Perform the work while wiping off the grease.
  • Page 112 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit. Removing the Reduction Gear Wave Generator unit Reduction Gear Unit POINT Turn the Reduction Gear Unit with the Wave Generator unit built in upside down.
  • Page 113 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm2 O-ring. Removing the Reduction Gear POINT The part has grease applied. Perform the work while wiping off the grease. O-ring (C) Seiko Epson Corporation 2-71 Rev.1...
  • Page 114 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Install the O-ring in the O-ring groove. POINT • Applying a small amount of grease (SK-1A) to the O-ring will make it stick to the arm, facilitating subsequent work.
  • Page 115 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Set the Reduction Gear Unit on Arm2, then secure the fixing bolts temporarily. Installing the Reduction Gear C8L: S02: 12-M5x40 C8XL/C12XL: S02: 12-M6x45 POINT Align the six bolt heads on the bottom of the J2 Reduction Gear Unit with the indentations on Arm2, and set the Reduction Gear Unit on the arm.
  • Page 116 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the inside of the reduction gear flexspline as shown in the figure. Installing the Reduction Gear • C8L: SK-1A: 55 g • C8XL/C12XL: SK-1A: 102 g Flexspline CAUTION If grease is on the areas shown in the figure, wipe off the grease.
  • Page 117 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Wave Generator unit. Installing the Reduction Gear Wave Generator unit Reduction Gear Unit POINT Install so that the longside of the Flexspline and the Wave Generator match. Longside...
  • Page 118 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the J2 Reduction Gear Unit to Arm2. Installing the Reduction Gear C8L: S02: 12-M5x40 C8XL/C12XL: S02: 12-M6x45 Longside Screw Shortside Wave Generator Tighten the screws using the following procedure. Refer to the figure above.
  • Page 119 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Rotate the Wave Generator longside so that it aligns with the positions of screws (3) Installing the Reduction Gear and (4). 5. Tighten screws (3) and (4) to 20% of the torque value.
  • Page 120 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the wave washer. Installing the Reduction Gear Wave washer Temporarily secure the Arm1 side arm. CAUTION Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 121 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure Arm2. Installing the Reduction Gear 1. Lift up the Arm1 side arm and Arms 2, 3, 4, 5, and 6 (ends) to install and temporarily secure the Arm2. Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 122 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Install the J2 pulley 2. Installing the Reduction Gear S05: 2-M5x10 (4.0 +/- 0.2 N⋅m) Pulley 2 POINT <For C8XL/C12XL> Set the key in the shaft and insert the J2 pulley 2 while aligning with the key groove.
  • Page 123 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Manually move Arm2 back and forth 30°. Installing the Reduction Gear POINT Adjust so that the fixing screws are centered in the clearance as shown in the figure. Fixing screw...
  • Page 124 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Rotate pulley 2 left and right by 180°. Installing the Reduction Gear Pulley 2 5. Perform the following procedure to secure Arm2. CAUTION • Ensure that diagonally opposite screws are tightened alternately.
  • Page 125 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 1. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. Shaft D-cut surface Shaft D-cut surface C8XL/C12XL 2. Tighten screws (1) and (2) to 20% of the torque value.
  • Page 126 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 7. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. C8XL/C12XL 8. Tighten screws (1) and (2) to 80% of the torque value.
  • Page 127 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 13. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. C8XL/C12XL 14. Tighten screws (5) and (6) to 40% and 100% of the torque value.
  • Page 128 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 17. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. C8XL/C12XL 18. Tighten screws (9) and (10) to 40% and 100% of the torque value.
  • Page 129 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 21. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. C8XL/C12XL 22. Tighten screws (13) and (14) to 40% and 100% of the torque value.
  • Page 130 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only  Fully tighten the Arm1 side arm screws temporarily secured in step Installing the Reduction Gear S02: 8-M6x25 Arm1 side arm and washer (18.0 +/- 0.9 N⋅m) Attach the grease tube to the fittings.

  • Page 131: Joint #3

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5 Joint #3 2.5.1 Joint #3 Replacing the Timing Belt J3 Timing Belt Arm2 Side Cover S06: 4-M4x10 (C) Seiko Epson Corporation 2-89 Rev.1...
  • Page 132 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn ON the controller. Release the J3 brake, and manually push and move Arm3 until it comes in contact with the mechanical stopper, and push it against Arm2.
  • Page 133 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws securing the J3 Motor unit. Removing the Timing Belt S01: 3-M4x20 and washer J3 Motor unit WARNING Loosening the screws while Arm3 is not tilted will result in the belt coming off and Arm3 falling, which is very dangerous.
  • Page 134 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J3 Timing Belt. Pulley 2 J3 Timing Belt Pulley 1 POINT • First place the belt on pulley 2. • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 135 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 136: Joint #3 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.2 Joint #3 Replacing the Motor Unit Arm2 Side Cover S06: 4-M4x10 J3 Motor Unit Timing Belt Arm2 Side Cover S01: 3-M4x20 and washer S06: 4-M4x10 (C) Seiko Epson Corporation 2-94 Rev.1...
  • Page 137 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the J3 Timing Belt. Disconnect the J3 Motor Connectors (CN131, CN331, CN430) and Ground Wire (FB12). S04: 1-M4x6 CN131 CN331 FB12 CN430 (C) Seiko Epson Corporation 2-95 Rev.1...
  • Page 138 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the loosened screws, then remove the J3 Motor unit. Removing the Motor Unit S01: 3-M4x20 and washer J3 Motor unit J3 Motor unit CAUTION When pulling off the motor unit, the CN131-2 connector clip may catch on the arm and be damaged, or the CN131-1 cable may be pulled inside the arm.
  • Page 139 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Motor Pulley Brake Hub S05: 2-M5x12 J3 electromagnetic brake J3 Motor unit Motor Plate S05: 2-M5x10 J3 Motor S01: 4-M5x15 (C) Seiko Epson Corporation 2-97 Rev.1...
  • Page 140 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J3 Motor unit. Motor Unit Disassembly Remove the Motor Pulley unit. POINT Remove the Motor Pulley and the Brake Hub together. 1. Loosen the two screws on the D-cut surface of the motor shaft when viewing the J2 Motor unit from above.
  • Page 141 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J3 brake. Motor Unit Disassembly CAUTION A brass bushing is included on one of the set screws. Be careful not to lose it when performing the work. S05: 2-M5x10 J3 brake Remove the Motor Plate.
  • Page 142 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 4-M5x15 Motor Plate (8.0 +/- 0.4 N⋅m) POINT Attach the Motor Plate according to the orientation shown in the figure. Motor Plate...
  • Page 143 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J3 brake. Motor Unit Assembly CAUTION If the screw positions are incorrect or the bushing is not set, this may cause damage on the side, and may result in the part being unable to be removed.
  • Page 144 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Motor Pulley and Brake Hub on the J3 Motor. Motor Unit Assembly 1. Insert the Motor Pulley so that the set screw positions align with the motor shaft D-cut surfaces.
  • Page 145 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Motor Unit Assembly Leave a 0.5-mm gap between the Motor Pulley and the electromagnetic brake. As the countersunk screw on the electromagnetic brake protrudes, using the feeler gauge (0.5 mm), leave a gap for the protrusion.
  • Page 146 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J3 Motor unit inside Arm3. J3 Motor unit Install the J3 Timing Belt.   Perform steps Connect the J3 Motor Connectors (CN131, CN331, CN430) and Ground Wire (FB12).

  • Page 147: Joint #3 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.3 Joint #3 Replacing the Brake Arm2 Side Cover S06: 4-M4x10 Arm2 Side Cover S06: 4-M4x10 S05: 2-M5x10 J3 Brake Timing Belt J3 Motor Unit S01: 3-M4x20 and washer S05: 2-M5x12...
  • Page 148 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J3 Motor Unit Disassembly and remove the J3 brake. (C) Seiko Epson Corporation 2-106 Rev.1...
  • Page 149 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J3 Motor Unit Assembly and install the J3 brake. (C) Seiko Epson Corporation 2-107 Rev.1...

  • Page 150: Joint #3 Replacing The Reduction Gear

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.4 Joint #3 Replacing the Reduction Gear Arm2 Side Cover J3 Pulley 2 S02: 16-M4x25 O-ring J3 Reduction Gear and washer S06: 4-M4x10 O-ring S02: 6-M5x20 and washer S05: 2-M5x12...
  • Page 151 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear <Preparation> Prepare a work stand upon which to place the arm removed from the Manipulator. Guidelines for work stand Width x Depth: 1.0 x 0.5 m...
  • Page 152 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm2 side arm. Removing the Reduction Gear S02: 6-M5x20 and washer Arm2 side arm Remove the J3 pulley 2. S05: 2-M5x12 J3 pulley 2 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 153 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove Arm3. Removing the Reduction Gear S02: 16-M4x25 Arm3 and washer CAUTION • Remove the bolts to remove the Arm2 side arm and Arms 3, 4, 5, and 6 (end effector).
  • Page 154 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the wave washer. Removing the Reduction Gear CAUTION The wave washer will be used again. Be careful not to lose it when performing the work. POINT The part has grease applied. Perform the work while wiping off the grease.
  • Page 155 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit. Removing the Reduction Gear Wave Generator unit Reduction Gear Unit POINT Turn the Reduction Gear Unit with the Wave Generator unit built in upside down.
  • Page 156 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm3 O-ring. Removing the Reduction Gear POINT The part has grease applied. Perform the work while wiping off the grease. O-ring Arm3 (C) Seiko Epson Corporation 2-114 Rev.1...
  • Page 157 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Install the O-ring. POINT • Applying a small amount of grease (SK-1A) to the O-ring will make it stick to the arm, facilitating subsequent work. • Insert the O-ring firmly into the groove.
  • Page 158 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Set the Reduction Gear Unit on Arm3, then secure the fixing bolts temporarily. Installing the Reduction Gear S02: 12-M4x30 Reduction Gear Unit POINT Align the four bolt heads on the bottom of the J3 Reduction Gear Unit with the indentations on Arm3, and set the Reduction Gear Unit on the arm.
  • Page 159 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease at the location shown in the figure. Installing the Reduction Gear SK-1A: 26 g CAUTION If grease is on the areas shown in the figure, wipe off the grease.
  • Page 160 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Wave Generator unit. Installing the Reduction Gear Wave Generator unit Reduction Gear Unit POINT Install so that the longside of the Flexspline and the Wave Generator match. Longside...
  • Page 161 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the J3 Reduction Gear Unit to Arm3. Installing the Reduction Gear S02: 12-M4x30 Longside Screw Shortside Wave Generator Tighten the screws using the following procedure. Refer to the figure above.
  • Page 162 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Rotate the Wave Generator longside so that it aligns with the positions of screws (3) Installing the Reduction Gear and (4). 5. Tighten screws (3) and (4) to 20% of the torque value.
  • Page 163 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the wave washer. Installing the Reduction Gear Wave washer Temporarily secure the Arm2 side arm. CAUTION Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 164 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Temporarily secure the Arm3. Installing the Reduction Gear 1. Lift up the Arm2 side arm and Arms 3, 4, 5, and 6 (ends) to install and temporarily secure the Arm3.
  • Page 165 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Install the J3 pulley 2. Installing the Reduction Gear S05: 2-M5x12 (4.0 +/- 0.2 N⋅m) J3 pulley 2 POINT Align the shaft D-cut surface with the screw holes, and install the J3 pulley 2.
  • Page 166 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Manually lift Arm3 60° upward from this position. Installing the Reduction Gear 60° POINT Adjust so that the fixing screws are centered in the clearance as shown in the figure.
  • Page 167 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Rotate pulley 2 left and right by 180°. Installing the Reduction Gear Pulley 2 5. Perform the following procedure to secure Arm3. CAUTION • Ensure that diagonally opposite screws are tightened alternately.
  • Page 168 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 1. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. Shaft D-cut surface 2. Tighten screws (1) and (2) to 20% of the torque value.
  • Page 169 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 7. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. 8. Tighten screws (1) and (2) to 80% of the torque value.
  • Page 170 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 13. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. 14. Tighten screws (5) and (6) to 40% and then 100% torque values.
  • Page 171 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 17. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. 18. Tighten screws (9) and (10) to 40% and then 100% torque values.
  • Page 172 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear 21. Rotate pulley 2 so that the shaft D-cut is in the position shown in the figure. 22. Tighten screws (13) and (14) to 40% and then 100% torque values.
  • Page 173 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only  Fully tighten the Arm2 side arm screws temporarily secured in step Installing the Reduction Gear S02: 6-M5x20 and washer (10.0 +/- 0.5 N⋅m) Arm2 side arm Install the J3 Timing Belt.

  • Page 174: Joint #4

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6 Joint #4 2.6.1 Joint #4 Replacing the Timing Belt S01: 2-M4x10 Arm3 Cover Brake Power Supply J4 Motor Unit S01: 2-M4x10 Cable fixing plate Arm2 Cover Cable fixing plate...
  • Page 175 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn ON the controller. Release the J3 brake, and manually push and move Arm3 until it comes in contact with the mechanical stopper, and push it against Arm2.
  • Page 176 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm4 side cover (both sides). Removing the Timing Belt Remove the J4 Motor unit. Removing the Cable unit.   Perform step through 11 of step Protect pulled-out connectors with masking tape or similar.
  • Page 177 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Set the J4 Timing Belt on pulley 2. J4 Timing Belt Pulley 2 Timing Belt Pulley 1 Installing the J4 Motor Unit.   Perform steps...
  • Page 178 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Arm3 maintenance cover. Installing the Timing Belt Install the Arm4 side cover (both sides). Install the Arm4 maintenance cover. After assembly, perform calibration of Joint #4. 3.2 Calibration...

  • Page 179: Joint #4 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.2 Joint #4 Replacing the Motor Unit S06: 4-M4x10 Arm3 Cover S01: 2-M4x15 and washer S06: 4-M4x10 J4 Motor Unit Arm2 Side Cover S01: 2-M4x10 Cable fixing plate Arm3 Maintenance Cover...
  • Page 180 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn OFF the Controller. Remove the Arm3 cover. Remove the Arm2 side cover (both sides). Disconnect the J4 Motor Connectors (CN141, CN341, CN440). 1. Using a marker pen or tape, mark all of the cables bound with the wire tie as shown in the figure.
  • Page 181 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the screws securing the J4 Motor Plate, and remove the J4 Motor unit from Arm3. Removing the Motor Unit POINT • The J4 Motor Plate screws are at a position approximately 120 mm in.
  • Page 182 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Pulley 1 S05: 2-M4x4 Brake Hub S05: 2-M4x4 S01: 3-M3x13 J4 brake Motor Plate J4 motor S01: 2-M4x10 (C) Seiko Epson Corporation 2-140 Rev.1...
  • Page 183 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 Motor unit. Motor Unit Disassembly Cut the wire tie (AB100) securing the brake and motor cable to the motor. Wire tie (C) Seiko Epson Corporation 2-141 Rev.1...
  • Page 184 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove pulley 1. Motor Unit Disassembly S05: 2-M4x4 Pulley 1 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 185 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Brake Hub. Motor Unit Disassembly Brake Hub S05: 2-M4x4 Remove the J4 brake. J4 brake S01: 3-M3x13 (C) Seiko Epson Corporation 2-143 Rev.1...
  • Page 186 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Motor Plate. Motor Unit Disassembly S01: 2-M4x10 Motor Plate (C) Seiko Epson Corporation 2-144 Rev.1...
  • Page 187 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Motor cable Motor Plate POINT Install with the orientation shown in the figure. Motor Plate J4 Motor...
  • Page 188 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J4 brake. Motor Unit Assembly S01: 3-M3x13 J4 brake (2.0 +/- 0.1 N⋅m) Brake cable POINT Install with the orientation shown in the figure. J4 brake Brake cable...
  • Page 189 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub. Motor Unit Assembly 1. Align the motor shaft D-cut surface with the screw holes, and set the Brake Hub. Brake Hub D-cut surface D-cut surface 2. Place 0.5-mm feeler gauges or scales on the brake to ensure a 0.5-mm gap between the Brake Hub and the brake.
  • Page 190 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Secure the Brake Hub with set screws. Motor Unit Assembly S05: 2-M4x4 (1.6 +/- 0.1 N⋅m) Brake Hub Install the Motor Pulley. POINT • Align the D-cut surfaces with the screw holes, and install the Motor Pulley.
  • Page 191 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the cables to the Motor Unit with the wire tie (AB200) as shown in the figure. Motor Unit Assembly Wire tie (C) Seiko Epson Corporation 2-149 Rev.1...
  • Page 192 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Remove the Arm3 maintenance cover. Loosen the screws on the Arm3 cable fixing plate 1, and remove the plate. S01: 2-M4x10 Arm3 cable fixing plate 1 POINT Slide the cutout section on the Arm3 cable fixing plate 1.
  • Page 193 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J4 Motor unit. Installing the Motor Unit Refer to the figure below for each part name. Pulley 2 Timing Belt Pulley 1 1. With the Timing Belt correctly engaged with pulley 2, insert the J4 Motor into the arm while lifting the Arm3 cable fixing plate 1.
  • Page 194 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit The Timing Belt may not be engaged with pulley 2, as shown in the figure. Check that it is correctly engaged with pulley 2. Pulley 2 Timing Belt 2.
  • Page 195 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit • Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Check from the three locations of the Arm2 side cover, Arm3 maintenance cover, and Arm3 cover.
  • Page 196 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the cable fixing plate to Arm3. Installing the Motor Unit S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Cable fixing plate POINT Slide the cutout section on the cable fixing plate, and secure with screws.
  • Page 197 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J4 Motor Connectors (CN141, CN341, CN440). Installing the Motor Unit Bind the following connector cables using the wire tie (AB200). CN341, CN592, CN522, CN521, CN203, LED, CN441, CN440...
  • Page 198 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Arm3 cover. Installing the Motor Unit Install the Arm3 maintenance cover. Install the Arm2 side cover. After assembly, perform calibration of Joint #4. 3.2 Calibration (C) Seiko Epson Corporation 2-156 Rev.1...

  • Page 199: Joint #4 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.3 Joint #4 Replacing the Brake S06: 4-M4x10 S01: 2-M4x15 and washer J4 Motor Unit Arm3 Cover J4 Motor Brake S01: 3-M3x13 Brake Hub Pulley 1 S05: 2-M4x4 S06: 4-M4x10...
  • Page 200 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J4 Motor Unit Disassembly and remove the J4 brake. (C) Seiko Epson Corporation 2-158 Rev.1...
  • Page 201 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J4 Motor Unit Assembly and install the J4 brake. (C) Seiko Epson Corporation 2-159 Rev.1...

  • Page 202: Joint #4 Replacing The Reduction Gear Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.4 Joint #4 Replacing the Reduction Gear Unit Arm3 Cover Arm4 Side Cover (right) Arm4 D-sub S01: 2-M4x10 Attachment D-sub connector fixing plate Cable Protection Plate D-sub Connector S01: 2-M4x10...
  • Page 203 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only J4 pulley bearing S01: 3-M3x8 and washer J4 Motor unit Pulley Arm #3 cable bracket (C3B) S05: 2-M4x4 S01: 2-M3x6 S02: 16-M3x20 S01: 4-M3x8 S01: 2-M4x15 and washer Pulley spacer...
  • Page 204 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Refer to Removing the Arm4 Unit and remove the Arm4 Unit. Remove the Arm4 extension part. 1. Rotate the Arm4 extension part and shift its position to make the bolt head visible.
  • Page 205 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 Reduction Gear Unit. Removing the Reduction Gear Unit 1. Remove the J4 flange and Wave Generator. POINT If it is difficult to remove them, insert a tool between the J4 flange and the arm, and widen the gap between them little by little.
  • Page 206 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Remove the O-ring. Removing the Reduction Gear Unit O-ring 3. Remove the J4 Reduction Gear Unit. S02: 12-M3x28 (C) Seiko Epson Corporation 2-164 Rev.1...
  • Page 207 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Remove the J4 sleeve holder. Removing the Reduction Gear Unit S01: 4-M3x6 2. Remove the J4 sleeve. J4 sleeve J4 sleeve holder CAUTION Handle the sleeve with care since it is thin and easy to deform.
  • Page 208 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Remove the pulley bearing. Removing the Reduction Gear Unit 2. Remove the pulley. S01: 3-M3x8 Pulley bearing and washer Pulley S05: 2-M4x4 3. Remove the pulley spacer. S01: 4-M3x8...
  • Page 209 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit Install the J4 Reduction Gear Unit. 1. Apply the liquid gasket to the mating surface of the sleeve and fixing bolts in order to prevent grease leakage of the Reduction Gear.
  • Page 210 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Install the J4 Reduction Gear. Installing the Reduction Gear Unit S02: 12-M3x28 5. Apply grease at the location shown in the figure. SK-1A • Inside of Flexspline 10 g Grease •...
  • Page 211 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Install the Wave Generator. Installing the Reduction Gear Unit Wave Generator 7. Install the O-ring attached to the Reduction Gear on the O-ring groove on the J4 Reduction Gear.
  • Page 212 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Install the pulley spacer. Installing the Reduction Gear Unit Pulley spacer S01: 4-M3x8 (2.0 +/- 0.1 N⋅m) 10. Install the pulley. Pulley S05: 2-M4x4 POINT Align the pulley spacer screw holes with the pulley D-cut surface, and secure with screws.
  • Page 213 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Apply adhesive to the following parts of the J4 pulley. Installing the Reduction Gear Unit Adhesive: Loctite 641 • Bearing mating surface • Inner ring (J4 sleeve) • Outer ring (J4 pulley) 12.

  • Page 214: Joint #5

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7 Joint #5 2.7.1 Joint #5 Replacing the Timing Belt J5 Timing Belt S06: 7-M4x10 Arm4 Side Cover (left) (C) Seiko Epson Corporation 2-172 Rev.1...
  • Page 215 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Remove the Arm4 side cover (left). Loosen the screws securing the J5 Motor unit. S01: 2-M4x15 and washer J5 Motor unit Remove the J5 Timing Belt.
  • Page 216 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J5 Timing Belt. Timing Belt Pulley 2 Pulley 1 POINT • First place the belt on pulley 1. Wrong Correct • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 217 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Temporarily secure the J5 Motor unit. Installing the Timing Belt S01: 2-M4x15 and washer J5 Motor unit POINT The standard for temporary fastening is where the Motor Unit can be moved by hand and will not tilt when pulled.

  • Page 218: Joint #5 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.2 Joint #5 Replacing the Motor Unit Arm4 Side Cover (right) S06: 7-M4x10 Cable Protection Plate S01: 2-M4x10 J5 Motor Unit J5 Timing Belt Arm4 Side Cover (left) S01: 2-M4x15 and washer...
  • Page 219 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn OFF the Controller. Remove the Arm4 side cover (both sides). Remove the Air tube. Air tube Disconnect the J5 Motor Connectors. 1. Loosen the cable protection plate screws, and remove the plate.
  • Page 220 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Removing the Motor Unit Slide the cutout section on the cable fixing plate. Cable fixing plate 2. Cut the wire tie. Wire tie 3. Disconnect the J5 Motor Connectors (CN151, CN351, CN450).
  • Page 221 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Disconnect the Air Tube. Removing the Motor Unit 1. Remove the tube from the fitting. Air Tube 2. Use an 8-mm wrench to rotate the nut, and remove the metal fitting.
  • Page 222 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws securing the J5 Motor unit, and remove the J5 Timing Belt. Removing the Motor Unit POINT First, remove the belt on pulley 1. S01: 2-M4x15 J5 Motor unit...
  • Page 223 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly S05: 2-M4x4 Pulley 1 Brake Hub S05: 2-M4x4 S01: 3-M3x13 J5 electromagnetic brake Motor Plate J5 Motor S01: 2-M4x10 (C) Seiko Epson Corporation 2-181 Rev.1...
  • Page 224 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J5 Motor unit. Motor Unit Disassembly Remove pulley 1. S05: 2-M4x4 Pulley 1 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 225 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Brake Hub. Motor Unit Disassembly Brake Hub S05: 2-M4x4 Remove the J5 brake. S01: 3-M3x13 J5 brake Remove the Motor Plate. S01: 2-M4x10 Motor Plate J5 Motor (C) Seiko Epson Corporation 2-183 Rev.1...
  • Page 226 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Motor Plate J5 Motor POINT Install with the orientation shown in the figure. Motor Plate Motor cable...
  • Page 227 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J5 brake. Motor Unit Assembly S01: 3-M3x13 J5 brake (2.0 +/- 0.1 N⋅m) Brake cable Motor Plate Motor cable POINT Install with the orientation shown in the figure.
  • Page 228 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub. Motor Unit Assembly 1. Align the motor shaft D-cut surface with the screw holes, and set the Brake Hub. Brake Hub D-cut surface D-cut surface 2. Place 0.5-mm feeler gauges or scales on the brake to ensure a 0.5-mm gap between the Brake Hub and the brake.
  • Page 229 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Secure the Brake Hub with set screws. Motor Unit Assembly Brake Hub S05: 2-M4x4 (1.6 +/- 0.1 N⋅m) Install the Motor Pulley. POINT • Align the D-cut surfaces with the screw holes, and install the Motor Pulley.
  • Page 230 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Install the J5 Motor unit. 1. Insert the J5 Motor unit inside Arm4. POINT Insert into the arm from the bottom of the motor. J5 Motor unit...
  • Page 231 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit • Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Correct Wrong Pulley Timing Belt • The standard for temporary fastening is where the Motor Unit can be moved by hand and will not tilt when pulled.
  • Page 232 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Air Tube. Installing the Motor Unit 1. Use an 8-mm wrench to rotate the part shown in the figure, and install the metal fitting. Fitting POINT • Install in front of the Motor Unit.
  • Page 233 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J5 Motor Connectors, and secure the cables protection plate to Arm4. Installing the Motor Unit 1. Pull out each connector as shown in the figure below. CN351/CN361, CN151, CN161...
  • Page 234 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Install the cable protection plate. Installing the Motor Unit CAUTION Be careful not to let the cables get pinched. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Cable protection plate POINT Slide the cutout section on the cable protection plate, and secure with screws.
  • Page 235 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Arm4 side cover (both sides). Installing the Motor Unit After assembly, perform calibration of Joint #5. 3.2 Calibration (C) Seiko Epson Corporation 2-193 Rev.1...

  • Page 236: Joint #5 Replacing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.3 Joint #5 Replacing the Brake Arm4 Side Cover (right) Arm4 Side Cover (left) S06: 7-M4x10 S06: 4-M4x10 S01: 3-M3x13 S05: 2-M4x4 S05: 2-M4x4 J5 Brake Brake Hub Pulley 1...
  • Page 237 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J5 Motor Unit Disassembly and remove the J5 brake. (C) Seiko Epson Corporation 2-195 Rev.1...
  • Page 238 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J5 Motor Unit Assembly and install the J5 brake. (C) Seiko Epson Corporation 2-196 Rev.1...

  • Page 239: Joint #5 Replacing The Arm4 Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.4 Joint #5 Replacing the Arm4 Unit S01: 2-M4x15 and washer Arm3 Cover Cable Protection Plate Arm4 S01: 2-M4x10 Arm4 D-sub Attachment Joint #4 D-sub connector Motor Unit fixing plate...
  • Page 240 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Arm4 Unit Turn ON the controller. Release the J3 brake, and manually push and move Arm3 until it comes in contact with the mechanical stopper, and push it against Arm2.
  • Page 241 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm2 side cover (both sides). Removing the Arm4 Unit Removing the Cable unit.   Perform step through 12 of step Removing the J4 Timing Belt.  ...
  • Page 242 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Remove the screws shown in the figure, then remove the Arm4 unit. Removing the Arm4 Unit S01: 4-M6x20 Arm4 unit Arm4 extension part (C) Seiko Epson Corporation 2-200 Rev.1...
  • Page 243 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Arm4 Unit Install the Arm4 Unit on the Arm4 extension part. S01: 4-M6x20 (18.0 +/- 0.9 N⋅m) Arm4 extension part Arm4 Unit Install the J4 Timing Belt. ...

  • Page 244: Joint #6

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8 Joint #6 2.8.1 Joint #6 Replacing the Timing Belt J6 Timing Belt S06: 7-M4x10 Arm4 Side Cover (right) (C) Seiko Epson Corporation 2-202 Rev.1...
  • Page 245 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Remove the Arm4 side cover (right). Loosen the screws securing the J6 Motor unit, and remove the J6 Timing Belt. POINT First, remove the belt on pulley 1.
  • Page 246 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J6 Timing Belt. J6 Timing Belt S01: 2-M4x15 and washer Pulley 2 Pulley 1 POINT Correct Wrong • First place the belt on pulley 1.
  • Page 247 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Temporarily secure the J6 Motor unit. Installing the Timing Belt S01: 2-M4x15 and washer J6 Motor unit POINT The standard for temporary fastening is where the Motor Unit can be moved by hand and will not tilt when pulled.

  • Page 248: Joint #6 Replacing The Motor Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8.2 Joint #6 Replacing the Motor Unit Arm4 Side Cover (left) S06: 7-M4x10 S01: 2-M4x15 and washer Cable Protection Plate J6 Motor Unit Arm4 Side Cover (right) J6 Timing Belt...
  • Page 249 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn OFF the Controller. Remove the Arm4 side cover (both sides). Disconnect the Air Tube. Air Tube Disconnect the J6 Motor Connectors. 1. Loosen the cable protection plate screws, and remove the plate.
  • Page 250 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Removing the Motor Unit Slide the cutout section on the cable fixing plate. Cable fixing plate 2. Cut the wire tie. Wire tie 3. Disconnect the connectors (CN361, CN461, CN161).
  • Page 251 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws securing the J6 Motor unit, and remove the J6 Timing Belt. Removing the Motor Unit POINT First, remove the belt on pulley 1. J6 Timing Belt S01: 2-M4x15...
  • Page 252 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Pulley 1 S05: 2-M4x4 Brake Hub S05: 2-M4x4 S01: 3-M3x13 J6 Brake Motor Plate J6 Motor S01: 2-M4x10 (C) Seiko Epson Corporation 2-210 Rev.1...
  • Page 253 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J6 Motor unit. Motor Unit Disassembly Remove pulley 1. S05: 2-M4x4 Pulley 1 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 254 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Brake Hub. Motor Unit Disassembly Brake Hub S05: 2-M4x4 Remove the J6 brake. S01: 3-M3x13 J6 brake Remove the Motor Plate. S01: 2-M4x10 Motor Plate J6 Motor (C) Seiko Epson Corporation 2-212 Rev.1...
  • Page 255 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Motor Plate J6 Motor POINT Install with the orientation shown in the figure. Motor Plate Motor cable...
  • Page 256 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J6 brake. Motor Unit Assembly S01: 3-M3x13 J6 brake (2.0 +/- 0.1 N⋅m) Brake cable Motor Plate Motor cable POINT Install with the orientation shown in the figure.
  • Page 257 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub. Motor Unit Assembly 1. Align the motor shaft D-cut surface with the screw holes, and set the Brake Hub. Brake Hub D-cut surface D-cut surface 2. Place 0.5-mm feeler gauges or scales on the brake to ensure a 0.5-mm gap between the Brake Hub and the brake.
  • Page 258 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Secure the Brake Hub with set screws. Motor Unit Assembly Brake Hub S05: 2-M4x4 (1.6 +/- 0.1 N⋅m) Install the Motor Pulley. POINT • Align the D-cut surfaces with the screw holes, and install the Motor Pulley.
  • Page 259 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Install the J6 Motor unit. 1. Insert the J6 Motor unit inside Arm4. Arm4 J6 Motor unit POINT First pass the CN161 cable, and insert into the arm from the bottom of the motor.
  • Page 260 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit • Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Wrong Correct Pulley Timing Belt • The standard for temporary fastening is where the Motor Unit can be moved by hand and will not tilt when pulled.
  • Page 261 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J6 Motor Connectors, and secure the cables protection plate to Arm4. Installing the Motor Unit 1. Pull out each connector as shown in the figure below. CN351/CN361, CN151, CN161...
  • Page 262 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Install the cable protection plate. Installing the Motor Unit CAUTION Be careful not to let the cables get pinched. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Cable protection plate POINT Slide the cutout section on the cable protection plate, and secure with screws.
  • Page 263 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Air Tube. Installing the Motor Unit Air Tube Install the Arm4 side cover (both sides). After assembly, perform calibration of Joint #6. 3.2 Calibration (C) Seiko Epson Corporation 2-221 Rev.1...

  • Page 264: Joint #6 Removing The Brake

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8.3 Joint #6 Removing the Brake Arm4 Side Cover (left) S06: 7-M4x10 Arm4 Side Cover (right) J6 Brake S01: 2-M4x15 and washer S06: 4-M4x10 S01: 3-M3x13 Brake Hub S05: 2-M4x4...
  • Page 265 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J6 Motor Unit Disassembly and remove the J6 brake. (C) Seiko Epson Corporation 2-223 Rev.1...
  • Page 266 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J6 Motor Unit Assembly and install the J6 brake. (C) Seiko Epson Corporation 2-224 Rev.1...

  • Page 267: Replacing The Cable Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.9 Replacing the Cable Unit 2.9.1 Removing the Cable Unit Cable Unit (C) Seiko Epson Corporation 2-225 Rev.1...
  • Page 268 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Move the Manipulator to the origin posture (0 pulse position). Removing the Cable Unit Turn OFF the Controller. Remove the following parts. • • Connector Plate Arm4 side cover (both sides)
  • Page 269 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Disconnect the RJ45 connector. Removing the Cable Unit POINT Press the connector clip, and pull out. RJ45 connector 3. Disconnect the F-sensor connector. POINT Open the clips on both ends of the connector and pull it out.
  • Page 270 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Disconnect the B-Release plug and D-sub connector. Removing the Cable Unit D-sub D-sub connector connector B-Release B-Release plug plug 5. Disconnect the DC/DC Board connectors (CN1, CN2, CN3), and remove the DC/DC Board.
  • Page 271 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Disconnect the brake power supply connector (CN411). Removing the Cable Unit CN411 POINT Pull the cables with CN410-1 and CN411-2 through the hole as shown in the figure. CN410-1...
  • Page 272 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Remove the ground wire plate. Removing the Cable Unit CAUTION When removing the plate, take care not to damage the DC/DC Board, such as by contacting the base. S01: 2-M4x10 Ground wire plate 8.
  • Page 273 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Pull the following cables and connectors down through the hole in the base. Removing the Cable Unit • D-sub cable • Ground Wire • RJ45 connector • F-sensor connector 10.
  • Page 274 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Disconnect the Air Tubes (blue/white). Removing the Cable Unit Air Tube (white) Air Tube (blue) POINT These procedures remove the Connector Plate from the Manipulator. Connector Plate (C) Seiko Epson Corporation 2-232 Rev.1...
  • Page 275 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J1 Timing Belt. Removing the Cable Unit 1. Loosen the screws securing the plate for preventing cable interference, and remove the plate. S01: 2-M3x6 Plate for preventing cable interference POINT Slide the cutout section on the plate for preventing cable interference.
  • Page 276 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Remove the cable bracket and Silicone Sheet. Removing the Cable Unit Silicone Sheet S01: 2-M3x6 Cable bracket CAUTION In preparation for reassembly, mark the cable bundle positions so that you can see the positional relationship, or attach wire ties for markers as shown in the photo.
  • Page 277 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Cable Unit from Arm1. Removing the Cable Unit 1. Disconnect the connector (CN420-1). Arm1 CN420 2. Cut the wire tie. Wire tie CAUTION Mark the cable binding positions so that their positions are obvious during reassembly.
  • Page 278 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Remove the J1 cable fixing plate. Removing the Cable Unit S01: 2-M4x10 J1 cable fixing plate 4. Protect the connectors disconnected from parts such as the Connector Plate with masking tape or similar.
  • Page 279 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Mark the cables so that the wire tie position is obvious. Removing the Cable Unit 7. Cut the four wire ties, and remove the cable fixing plate. Wire ties Wire tie 8.
  • Page 280 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Remove the screws securing the Ground Wires. Removing the Cable Unit S04: 3-M4x6 FB11 10. Remove the Arm1 cable brackets (C2, S2) and silicone tube. S01: 2-M3x6 S01: 2-M4x10...
  • Page 281 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Pull the bundle of cables to the Arm2 side. Removing the Cable Unit Remove the Cable Unit from Arm2. 1. Loosen the screws securing the Arm2 cable fixing plate, and remove the plate.
  • Page 282 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Removing the Cable Unit Slide the cutout section on the Arm2 cable fixing plate. Arm2 cable fixing plate 2. Remove the Arm2 cable bracket (C2) and silicone tube. S01: 2-M3x6...
  • Page 283 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Disconnect the Arm2 Ground Wires (PE7, PE8, FB12). Removing the Cable Unit S04: 3-M4x6 FB12 5. Remove the J3 Motor unit.   Perform steps 6. Remove the Arm2 cable brackets (C3A, S3) and silicone tube.
  • Page 284 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Cable Unit from Arm3. Removing the Cable Unit 1. Using a marker pen or tape, mark all of the cables bound with the wire tie as shown in the figure.
  • Page 285 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Disconnect the Arm3 Ground Wires (PE9, PE10, FB13). Removing the Cable Unit S04: 3-M4x6 PE10 PE13 5. Disconnect the connectors (CN141, CN152, CN162, CN203, CN341, CN440, CN441, CN521, CN522, CN592, LED) inside Arm3.
  • Page 286 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Disconnect the Air Tubes (blue/white) inside Arm3. Removing the Cable Unit POINT • Remove the air tube fittings from the air tubes. • The air tube fittings will be used again during installation. Store them and do not dispose of them.
  • Page 287 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Remove the gyro board 2 fixing plate. Removing the Cable Unit S01: 2-M4x10 Gyro board 2 fixing plate 9. Remove the Arm3 cable bracket (C3B). S01: 2-M3x6 Arm3 cable bracket (C3B) 10.
  • Page 288 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Removing the Cable Unit Slide the cutout section on the Arm3 cable fixing plate 1. Arm3 cable fixing plate 1 11. Cut the wire tie securing the cable protective spring.
  • Page 289 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 12. Loosen the screws on Arm3 cable fixing plate 2, and remove the plate from Arm3. Removing the Cable Unit S01: 2-M4x10 Arm3 Arm3 cable fixing plate 2 POINT Slide the cutout section on the Arm3 cable fixing plate 2.
  • Page 290 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Cable Unit from Arm4. Removing the Cable Unit 1. Remove the cable bracket at the Arm4 maintenance cover, and remove the Silicone Sheet from the cable. Silicone Sheet...
  • Page 291 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Disconnect the J5 Motor Connectors (CN151, CN351, CN451, CN460). Removing the Cable Unit 4. Remove the J6 Motor unit.   Perform steps 5. Disconnect the Ground Wires (FB14, FB15, FB17) from the cable protection plate.
  • Page 292 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Remove the Arm4 D-sub attachment. Removing the Cable Unit POINT Remove the following parts from the Arm4 D-sub attachment. • Standard model/Cleanroom model: D-sub connector, D-sub connector fixing plate •...
  • Page 293 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Cut the wire tie (AB300) from the Arm4 cable fixing plate, and remove the Silicone Removing the Cable Unit Sheet. POINT The Silicone Sheet will be used again during installation. Store it and do not dispose of it.
  • Page 294 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 10. Cut the wire tie, and disconnect the cables from Arm3 cable fixing plate 2. Removing the Cable Unit 11. Remove the Silicone Sheet from the cables. Arm3 cable fixing...
  • Page 295 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 13. Pull out the separated Cable Unit (base side) from the Arm1 side to the Arm2 side. Removing the Cable Unit Cable Unit (base side) Arm2 Arm1 POINT To protect the connectors and facilitate the work, first cover the connectors with a plastic bag.

  • Page 296: Installing The Cable Unit

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.9.2 Installing the Cable Unit <Preparation> 1. Check that the Cable Unit contains the following parts. Silicone Sheet: 3 (25 mm x 120 mm) F-sensor connector housing: 2 Silicone Sheet 25 mm x 120 mm x 3 2.
  • Page 297 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Place a mark at the fixing position of each cable you are going to pass through Arm4. Installing the Cable Unit • D-sub: 130 mm from the connector end •...
  • Page 298 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Insert the Cable Unit. Installing the Cable Unit 1. Pass the separated Cable Unit (base side) through Arm2 to Arm1. Cable Unit (base side) Arm2 Arm1 2. Pass the following cables that have no relay connectors through to the Arm3 side.
  • Page 299 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Cable Unit Leave out the other connector cables for a certain length, as shown in the figure, in order to store them in Arm3. 3. Pass the following cables from the Arm3 side to the Arm4 side.
  • Page 300 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. While feeding cables from the Arm3 side, pull the braid tube from the Arm4 side Installing the Cable Unit to pass the cables through the tube. If it is difficult to pass the cables through the tube, pass the cables one by one in the order below.
  • Page 301 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Cable Unit Bring the Ethernet cable and Air Tube out of the Arm4 J5 Reduction Gear side, as shown in the figure, and bring the remaining cables out of the J6 Reduction Gear side.
  • Page 302 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm4. Installing the Cable Unit 1. Secure the cables to the cable fixing plate using wire ties. Cables Wire tie (AB300) Cable fixing plate 2. Install the D-sub connector on the Arm4 D-sub attachment.
  • Page 303 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Install the Arm4 D-sub attachment. Installing the Cable Unit CAUTION Be careful not to let the cables get pinched in the attachment. S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Arm4 D-sub attachment 4.
  • Page 304 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to the Arm4 extension part. Installing the Cable Unit 1. Wrap the Silicone Sheet around the cables. 2. Install the cable bracket (C4) so that it presses down on the Silicone Sheet.
  • Page 305 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm3. Installing the Cable Unit 1. Secure Arm3 cable fixing plate 2 to Arm3. S01: 2-M4x10 Arm3 cable fixing plate 2 (4.0 +/- 0.2 N⋅m) POINT •...
  • Page 306 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Wrap the cables with the Silicone Sheet, and secure the cables to Arm3 cable fixing Installing the Cable Unit plate 2 with the wire tie passed through the plate.
  • Page 307 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Secure Arm3 cable fixing plate 1 to Arm3. Installing the Cable Unit Installing the Cable Unit S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Arm3 cable fixing plate 1 POINT Slide the cutout section on the Arm3 cable fixing plate 1, and secure with screws.
  • Page 308 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Secure the cables to Arm3 cable fixing plate 1 using the cable bracket (C3B). Installing the Cable Unit POINT Align the silicone tube and cable bracket (C3B) positions and install.
  • Page 309 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Connect the connectors (CN203, CN152, CN162, CN521, CN441, CN522, CN592, Installing the Cable Unit LED) inside Arm3. 9. Connect the Arm4-side and base-side Air Tubes with air tube fittings.
  • Page 310 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Connect the Ground Wires (PE9, PE10, FB13). Installing the Cable Unit S04: 3-M4x6 （0.9 +/- 0.1 N·m） PE10 PE13 12. Bind the following connector cables using the wire tie (AB200).
  • Page 311 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 13. Place the connectors inside the arm so that the cover can be installed. Installing the Cable Unit Secure the Cable Unit to Arm2. 1. Secure the cable protective spring to Arm2 with the bracket (S3).
  • Page 312 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Temporarily secure the cables to Arm2 using the cable bracket (C3A). Installing the Cable Unit POINT • Secure so that the cables can still be pushed up. • Align the silicone tube and cable bracket (C3A) positions.
  • Page 313 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Fully tighten the cable bracket (C3A) fixing screws. Installing the Cable Unit POINT Check that the silicone tube has not come off from the cable bracket (C3A). S01: 2-M4x8 Silicone tube (4.0 +/- 0.2 N⋅m)
  • Page 314 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Bind the cable protective spring to the Arm2 cable fixing plate. Installing the Cable Unit Wire tie: AB100 Number of turns of spring to fix: 4 turns AB100 Cable protective spring...
  • Page 315 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Temporarily secure the cables to the Arm2 cable fixing plate using the cable bracket Installing the Cable Unit (C2). POINT • Secure so that the cables can still be pushed up.
  • Page 316 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Cable Unit Secure the Arm2 cable fixing plate by hooking the cutouts onto the fixing bolts. Arm2 cable fixing plate Cutout Cutout 10. Fully tighten the cable bracket (C2) fixing screws.
  • Page 317 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm1. Installing the Cable Unit 1. Secure the cable protective spring to Arm1 with the bracket (S2). S01: 2-M4x10 Cable protective spring (4.0 +/- 0.2 N·m)
  • Page 318 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Temporarily secure the cables to Arm1 using the cable bracket (C2). Installing the Cable Unit POINT • Secure so that the cables can still be pushed up. • Align the silicone tube and cable bracket (C2) positions.
  • Page 319 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Fully tighten the cable bracket (C2) fixing screws. Installing the Cable Unit POINT Check that the silicone tube has not come off from the cable bracket (C2). S01: 2-M3x6 (2.4 +/- 0.1 N·m)
  • Page 320 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Mark a position 250 mm from the Cable Unit cable bracket (C2). Installing the Cable Unit Cable bracket (C2) 7. Mark a position 130 mm from the CN6 cable connector.
  • Page 321 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Pass four wire ties through the Arm1 cable fixing plate as shown in the figure. Installing the Cable Unit At this point, temporarily fasten the wire ties just tight enough that the cables can move.
  • Page 322 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Temporarily secure the Arm1 cable fixing plate to Arm1. Installing the Cable Unit POINT Secure it enough that the plate does not move. S01: 2-M4x10 Arm1 cable fixing plate 12.
  • Page 323 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 13. Place a mark on the cables at the sleeve outlet on the base side. Installing the Cable Unit Cable 14. Bind the cables using the wire ties passed through the Arm1 cable fixing plate.
  • Page 324 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 15. Remove the temporarily secured Arm1 cable fixing plate, and bind the cables with a Installing the Cable Unit wire tie at the position shown in the figure. S01: 2-M4x10...
  • Page 325 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 17. Secure the Arm1 cable fixing plate to Arm1. Installing the Cable Unit S01: 2-M4x10 (4.0 +/- 0.2 N⋅m) Arm1 cable fixing plate Secure the Cable Unit to the base.
  • Page 326 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Install the plate for preventing cable interference. Installing the Cable Unit S01: 2-M3x6 (2.0 +/- 0.1 N⋅m) Plate for preventing cable interference POINT Slide the cutout section on the plate for preventing cable interference, and secure with screws.
  • Page 327 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Connect the Air Tubes (blue/white) in accordance with the indications on the Connector Installing the Cable Unit Plate. CAUTION Check the Air Tube colors before connecting. • White: Air1 •...
  • Page 328 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Pass the following cables and connectors through the hole in the base. Installing the Cable Unit • D-sub cable • Ground Wires • RJ45 connector • F-sensor connector 8. Install the ground wire terminals (PE3, FB4, FB3, FB16, FB8, FB7, FB6, FB5) to the ground wire plate.
  • Page 329 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Install the ground wire plate. Installing the Cable Unit S01: 2-M4x10 (4.0 +/- 0.2 N·m) Ground wire plate 10. Connect the Brake power supply connector (CN411). CN411 (C) Seiko Epson Corporation 2-287 Rev.1...
  • Page 330 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 11. Install the DC/DC Board, and connect the DC/DC Board connectors (CN1, CN2, CN3). Installing the Cable Unit S07: 2-M3x6 DC/DC Board 12. Install the B-Release plug and the D-sub connector in accordance with the indications on the Connector Plate.
  • Page 331 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 13. Connect the following connectors in accordance with the indications on the Connector Installing the Cable Unit Plate. • RJ45 connector: Ether • F-sensor connector: F-sensor Ground Wire F-sensor connector...

  • Page 332: Replacing The Board

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10 Replacing the Board 2.10.1 Replacing Gyro Board 1 S03: 3-M3x15 with washer S03: 1-M3x20 with washer Gyro Board 1 protective plate Gyro Board 1 S06: 5-M4x10 Arm1 Center Cover...
  • Page 333 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing Gyro Board 1 Turn OFF the Controller. Remove the Arm1 center cover. Disconnect the connectors (CN3, CN6), and remove gyro board 1. CAUTION Be careful not to drop the screws inside the Manipulator.
  • Page 334 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the gyro board 1 protective plate. Removing Gyro Board 1 S03: 1-M3x20 with washer Gyro board 1 protective plate Gyro board 1 Gyro board 1 fixing plate Gyro board 1 fixing plate...
  • Page 335 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing Gyro Board 1 Install the gyro board 1 protective plate on gyro board 1. POINT Install the gyro board 1 protective plate to the board with the orientation as shown in the figure.
  • Page 336 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install gyro board 1 on Arm1, and connect the connectors (CN3, CN6). Installing Gyro Board 1 CAUTION Be careful not to drop the screws inside the Manipulator. S03: 3-M3x15 with washer (0.45 +/- 0.1 N·m)
  • Page 337 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10.2 Replacing Gyro Board 2 Gyro Board 2 fixing plate Arm3 Cover S01: 2-M4x10 S04: 4-M3x8 Gyro Board 2 S06: 4-M4x10 (C) Seiko Epson Corporation 2-295 Rev.1...
  • Page 338 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing Gyro Board 2 Turn OFF the Controller. Remove the Arm3 cover. Disconnect the connector (CN3). Remove the screws fixing the plate, and pull out gyro board 2 and the plate from Arm3.
  • Page 339 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove gyro board 2 from the plate. Removing Gyro Board 2 Gyro board 2 S03: 4-M3x8 with washer Gyro board 2 fixing plate (C) Seiko Epson Corporation 2-297 Rev.1...
  • Page 340 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing Gyro Board 2 Install gyro board 2 on the plate. CAUTION Gyro board 2 installation has an assembly orientation. Be careful with the installation position. Gyro board 2 S03: 4-M3x8 with washer (0.45 +/- 0.1 N·m)
  • Page 341 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the connector (CN3) to gyro board 2. Installing Gyro Board 2 Install the Arm3 cover. (C) Seiko Epson Corporation 2-299 Rev.1...

  • Page 342: Replacing The Dc/Dc Board

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10.3 Replacing the DC/DC Board S06: 6-M4x10 Base Maintenance Cover S07: 2-M3x6 DC/DC Board (C) Seiko Epson Corporation 2-300 Rev.1...
  • Page 343 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Turn OFF the Controller. Replacing the DC/DC Board Remove the Base Maintenance Cover. Disconnect the connectors (CN1, CN2, CN3), and remove the DC/DC Board. S07: 2-M3x6（0.45 +/- 0.1 N·m） DC/DC Board...

  • Page 344: Replacing The Led Lamp

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.11 Replacing the LED Lamp LED Lamp Arm3 Cover S06: 4-M4x10 (C) Seiko Epson Corporation 2-302 Rev.1...
  • Page 345 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Turn OFF the Controller. Replacing the LED Lamp Remove the Arm3 cover. Disconnect the connector (LED) for the LED lamp. POINT The connector (LED) for the LED lamp is under the Arm3 cover when it is open.

  • Page 346: Replacing The M/C Cable

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.12 Replacing the M/C Cable 2.12.1 Removing the M/C Cable Connector Plate S01: 11-M4x10 Connector Sub Plate S01: 4-M4x10 M/C Cable (C) Seiko Epson Corporation 2-304 Rev.1...
  • Page 347 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Turn OFF the Controller power. Removing the M/C Cable Disconnect the following connectors from the Controller. Power cable connector, Signal cable connector Remove the Connector plate. M/C Cable Backward: C8L,...

  • Page 348: Installing The M/C Cable

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.12.2 Installing the M/C Cable Install the Connector sub plate. Connect the connectors of the new M/C cable to these of the cable unit. Connectors: CN111, CN200, CN201, CN202, CN300, CN301, CN3G0, CN312, CN3L1 Install the Connector plate.

  • Page 349: Replacing The Fan (C8Xl/C12Xl Only)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13 Replacing the Fan (C8XL/C12XL only) 2.13.1 Removing the Fan Fan Cover S04: 4-M4x35 with washer (C) Seiko Epson Corporation 2-307 Rev.1...
  • Page 350 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the fan cover. Removing the Fan POINT Removing the screws will cause the fan cover to drop, so remove the screws while supporting the fan cover. S04: 4-M4x35 with washer Fan cover Disconnect the connector (FAN), and remove the fan.

  • Page 351: Installing The Fan

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.2 Installing the Fan Install the fan, and connect the connector (FAN). Connector (FAN) POINT Ensure that the fan cables are at the top, and install so that the cables are toward the heat sink.
  • Page 352 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the fan cover. Installing the Fan POINT Fix the screws while supporting the fan cover. S04: 4-M4x35 with washer (0.9 +/- 0.1 N·m) Fan cover (C) Seiko Epson Corporation 2-310 Rev.1...

  • Page 353: Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14 Cover Here, this explains the names of the covers using the typical "M/C Cable Backward Model (Standard Model/Cleanroom Model)". Arm3 Maintenance Cover Arm3 Cover Arm2 S06: 4-M4x10 Side Cover...
  • Page 354 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only S06: 6-M4x10 Base Maintenance Cover Arm1 S01: 11-M4x10 center cover S06: 5-M4x10 S06: 4-M4x10 Heat sink S01: 4-M4x10 Arm1 side cover Connector Plate Base cover Connector sub plate S06: 4-M4x10...

  • Page 355: Base Cover (M/C Cable Backward)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.1 Base Cover (M/C Cable Backward) Standard Model/Cleanroom Model Remove the base cover. S01: 8-M4x10 Base cover (C) Seiko Epson Corporation 2-313 Rev.1...
  • Page 356 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the base cover. POINT When removing the base cover, also remove the base bottom gasket. S01: 8-M4x10 Base cover (C) Seiko Epson Corporation 2-314 Rev.1...
  • Page 357 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the base bottom gasket in the groove on the base bottom. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 358: Base Cover (M/C Cable Downward) (C8L)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.2 Base Cover (M/C Cable Downward) (C8L) Standard Model/Cleanroom Model Remove the base cover. S01: 11-M4x10 Base cover (C) Seiko Epson Corporation 2-316 Rev.1...
  • Page 359 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the base cover. POINT When removing the base cover, also remove the base rear gasket. S01: 11-M4x10 Base cover CAUTION The Rubber Gasket has spacers. Be careful not to lose these spacers.
  • Page 360 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (11 places) Spacer Apply the liquid gasket to the base rear gasket, and secure the base rear gasket to the base cover.
  • Page 361 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the base cover. Base Cover (M/C Cable Downward) Installation CAUTION (C8, C8L): Protection Model Installation When installing the cover, be careful not to pinch the Rubber Gasket and cables. Also, do not bend or push the cables in using excessive force.

  • Page 362: Base Cover (M/C Cable Downward) (C8Xl, C12Xl)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.3 Base Cover (M/C Cable Downward) (C8XL, C12XL) Standard Model/Cleanroom Model Remove the fan. Remove the heat sink and a Rubber Gasket. S01: 4-M4x15 Heat sink Remove the base cover.
  • Page 363 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the fan. Remove the heat sink. S01: 4-M4x15 Heat sink Remove the base cover. POINT When removing the base cover, also remove the base rear gasket.
  • Page 364 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (11 places) Spacer Apply the liquid gasket to the base rear gasket, and secure the base rear gasket to the base cover.
  • Page 365 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the base cover on the Manipulator. Installation CAUTION When installing the cover, be careful not to pinch the Rubber Gasket and cables. Also, do not bend or push the cables in using excessive force.

  • Page 366: Base Maintenance Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.4 Base Maintenance Cover Standard Model/Cleanroom Model Remove the Base Maintenance Cover. S06: 6-M4x10 Base Maintenance Cover (C) Seiko Epson Corporation 2-324 Rev.1...
  • Page 367 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Base Maintenance Cover. POINT When removing the Base Maintenance Cover, also remove the base maintenance gasket. S01: 6-M4x10 Base Maintenance Cover CAUTION The Rubber Gasket has spacers. Be careful not to lose these spacers.
  • Page 368 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (6 places) Spacer Apply the liquid gasket to the base maintenance gasket, and secure the base rear gasket to the base cover.

  • Page 369: Arm1 Center Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.5 Arm1 Center Cover Standard Model/Cleanroom Model Remove the Arm1 center cover. S06: 5-M4x10 Arm1 center cover (C) Seiko Epson Corporation 2-327 Rev.1...
  • Page 370 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm1 center cover. POINT When removing the Arm1 center cover, also remove the Arm1 center gasket. S01: 5-M4x12 with washer Arm1 center cover (C) Seiko Epson Corporation 2-328 Rev.1...
  • Page 371 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the Arm1 center gasket in the groove on the Arm1 center cover. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 372: Arm1 Side Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.6 Arm1 Side Cover Standard Model/Cleanroom Model Remove the Arm1 side cover. S06: 4-M4x10 Arm1 side cover Arm1 side cover Arm1 side cover (C) Seiko Epson Corporation 2-330 Rev.1...
  • Page 373 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm1 side cover. POINT When removing the Arm1 side cover, also remove the Arm1 side gasket. S01: 8-M4x12 with washer Arm1 side cover (C) Seiko Epson Corporation 2-331 Rev.1...
  • Page 374 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the Arm1 side gasket in the groove on the Arm1 side cover. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 375: Arm2 Side Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.7 Arm2 Side Cover Standard Model/Cleanroom Model Remove the Arm2 side cover. Arm2 side S06: 4-M4x10 cover Arm2 side cover Arm2 side cover (C) Seiko Epson Corporation 2-333 Rev.1...
  • Page 376 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm2 side cover. POINT When removing the Arm2 side cover, also remove the Arm2 side gasket. S01: 8-M4x12 with washer Arm2 side cover (C) Seiko Epson Corporation 2-334 Rev.1...
  • Page 377 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the Arm2 side gasket in the groove on the Arm2 side cover. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 378: Arm3 Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.8 Arm3 Cover Standard Model/Cleanroom Model Remove the Arm3 Cover. S06: 4-M4x10 Arm3 cover (C) Seiko Epson Corporation 2-336 Rev.1...
  • Page 379 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm3 Cover. POINT When removing the Arm3 Cover, also remove the Arm3 gasket. S01: 4-M4x12 with washer Arm3 cover (C) Seiko Epson Corporation 2-337...
  • Page 380 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the Arm3 gasket in the groove on the Arm3 Cover. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket. Arm3 cover Arm3 gasket Install the Arm3 Cover on the Manipulator.

  • Page 381: Arm3 Maintenance Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.9 Arm3 Maintenance Cover Standard Model/Cleanroom Model Move the arm to a position where the cover can be easily removed. Remove the Arm3 maintenance cover. S06: 4-M4x8 Arm3 maintenance cover...
  • Page 382 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Move the arm to a position where the cover can be easily removed. Remove the Arm3 maintenance cover. POINT When removing the Arm3 maintenance cover, also remove the Arm3 maintenance gasket.
  • Page 383 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (4 places) Spacer Apply the liquid gasket to the Arm3 maintenance gasket, and secure the Arm3 maintenance gasket to the Arm3 maintenance cover.
  • Page 384 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Base Maintenance Cover. Arm3 Maintenance Cover: Protection Installation Model Installation CAUTION When installing the cover, be careful not to pinch the Rubber Gasket and cables. Also, do not bend or push the cables in using excessive force.

  • Page 385: Arm4 Side Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.10 Arm4 Side Cover Standard Model/Cleanroom Model Remove the Arm4 side cover. S06: 7-M4x10 Arm4 side cover Arm4 side cover (right) Disconnect the connector. • Cover (left): RJ45 connector RJ45 connector •...
  • Page 386 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm4 side cover. POINT When removing the Arm4 side cover, also remove the Arm4 side gasket. S01: 7-M4x12 with washer Arm4 side cover CAUTION The Rubber Gasket has spacers.
  • Page 387 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Cover (right): F-sensor connector Removal Open the two plastic clips of the connector on the cover and pull out the metallic connector. F-sensor connector (C) Seiko Epson Corporation 2-345...
  • Page 388 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the Arm4 side gasket in the groove on the Arm4 side cover. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 389: Arm4 Maintenance Cover

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.11 Arm4 Maintenance Cover Standard Model/Cleanroom Model Move the arm to a position where the cover can be easily removed. Remove the Arm4 maintenance cover. S06: 4-M4x10 Arm4 maintenance cover...
  • Page 390 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Move the arm to a position where the cover can be easily removed. Remove the Arm4 maintenance cover. POINT When removing the Arm4 maintenance cover, also remove the Arm4 maintenance gasket.
  • Page 391 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (4 places) Spacer Apply the liquid gasket to the Arm4 maintenance gasket, and secure the Arm4 maintenance gasket to the Arm4 maintenance cover.

  • Page 392: Arm4 D-Sub Attachment

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.12 Arm4 D-sub Attachment Standard Model/Cleanroom Model Remove the Arm4 D-sub attachment. CAUTION • Cables are connected internally, so do not pull with force when removing. • When installing the attachment, be careful not to pinch the cables. Also, do not bend or push the cables in using excessive force.
  • Page 393 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Arm4 D-sub attachment. CAUTION Cables are connected internally, so do not pull with force when removing. POINT When removing the D-sub attachment, also remove the D-sub attachment gasket.
  • Page 394 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the D-sub attachment gasket in the groove on the D-sub attachment. POINT If any damage or deterioration is observed in the Rubber Gasket, replace the Rubber Gasket.

  • Page 395: Connector Plate (M/C Cable Backward) (C8L)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.13 Connector Plate (M/C Cable Backward) (C8L) Standard Model/Cleanroom Model CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.
  • Page 396 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.
  • Page 397 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation CAUTION When installing the Connector Plate, do not nip the Rubber Gasket or cables, or bend and push them in using excessive force. It may result in damage to the cables, disconnection, and/or contact failure.
  • Page 398 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Connector Plate. Installation S01: 11-M4x10 (4.0 +/- 0.2 N⋅m) Connector Plate (C) Seiko Epson Corporation 2-356 Rev.1...

  • Page 399: Connector Plate (M/C Cable Backward) (C8Xl, C12Xl)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.14 Connector Plate (M/C Cable Backward) (C8XL, C12XL) Standard Model/Cleanroom Model CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.
  • Page 400 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Connector Plate. Standard Model/Cleanroom Model S01: 11-M4x10 Connector Plate (C) Seiko Epson Corporation 2-358 Rev.1...

  • Page 401: Connector Plate (M/C Cable Downward)

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.
  • Page 402 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Connector Plate. Removal S01: 11-M4x10 Connector Plate (C) Seiko Epson Corporation 2-360 Rev.1...
  • Page 403 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation CAUTION When installing the Connector Plate, do not nip the Rubber Gasket or cables, or bend and push them in using excessive force. It may result in damage to the cables, disconnection, and/or contact failure.
  • Page 404 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Connector Plate. Installation S01: 11-M4x10 (4.0 +/- 0.2 N⋅m) Connector Plate Install the heat sink. POINT Install a Rubber Gasket between the heat sink and connector plate. S01: 4-M4x15 (4.0 +/- 0.2 N⋅m)
  • Page 405 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.15 Connector Plate (M/C Cable Downward) Standard Model/Cleanroom Model CAUTION • Cables are connected internally, so do not pull with force when removing. • At reassembly, check the cable arrangement when removing the Connector Plate in order to return to a reasonable wiring arrangement.
  • Page 406 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal CAUTION • Cables are connected internally, so do not pull with force when removing. • At reassembly, check the cable arrangement when removing the Connector Plate in order to return to a reasonable wiring arrangement.
  • Page 407 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation CAUTION When installing the Connector Plate, do not nip the Rubber Gasket or cables, or bend and push them in using excessive force. It may result in damage to the cables, disconnection, and/or contact failure.

  • Page 408: Connector Sub Plate

    C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.14.16 Connector Sub Plate Standard Model/Cleanroom Model Remove the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL, M/C Cable Downward CAUTION Attempting to remove the connector sub plate alone while the connectors are still connected may damage the cables.
  • Page 409 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the connector sub plate. Standard Model/Cleanroom Model CAUTION Cables are connected internally, so do not pull with force when removing. S01: 4-M4x10 with seal washer Connector sub plate (C) Seiko Epson Corporation 2-367 Rev.1...
  • Page 410 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Protection Model A. Removal Remove the Connector Plate. M/C Cable Backward: C8L, M/C Cable Backward: C8XL, C12XL, M/C Cable Downward CAUTION Attempting to remove the connector sub plate alone while the connectors are still connected may damage the cables.
  • Page 411 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the connector sub plate. Removal CAUTION Cables are connected internally, so do not pull with force when removing. POINT When removing the connector sub plate, also remove the base sub plate gasket together.
  • Page 412 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only B. Installation Install the spacers on the holes in the Rubber Gasket. (4 places) Spacer Apply the liquid gasket to the base sub plate gasket, and secure the base sub plate gasket to the connector sub plate.
  • Page 413 C8-B/C12-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the connector sub plate. Installation CAUTION When installing the plate, be careful not to pinch the Rubber Gasket and cables. Also, do not bend or push the cables in using excessive force.
  • Page 414 CHAPTER 3Adjustment...

  • Page 415: Adjusting The Timing Belt Tension

    C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.1 Adjusting the Timing Belt Tension The Manipulator uses six types of Timing Belts. When removing or replacing parts related to the belt, be sure to adjust the tension of the Timing Belt.

  • Page 416: Adjustment Method

    C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.1.3 Adjustment Method ⚫ Make sure that the belt is set to be level with respect to the pulley without it being placed on the flange. ⚫ Temporarily tighten the parts used to adjust the belt tension. After adjusting the tension, tighten the bolts with the correct CAUTION tightening torque.
  • Page 417 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only NOTE <When using the belt tensile jig (maintenance part)> Use the specified screws to temporarily secure the belt tensile jig (for J1, J2, J3) to the Joint #1 motor plate.
  • Page 418 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #2 Timing Belt 1. Apply the proper tension to the Joint #2 timing belt and secure the Joint #2 motor unit. Joint #2 timing belt tension: 58 to 95 N Belt tension meter setting values Weight: 4.0 g/mm width x m span, Width: 14 mm, Span: 146 mm...
  • Page 419 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #3 Timing Belt 1. Apply the proper tension to the Joint #3 timing belt and secure the Joint #3 motor unit. Joint #3 timing belt tension: 25 to 85 N Belt tension meter setting values Weight: 2.5 g/mm width x m span, Width: 10 mm, Span: 168 mm...
  • Page 420 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #4 Timing Belt 1. Apply the proper tension to the Joint #4 timing belt and secure the Joint #4 motor unit. Joint #4 timing belt tension: 15 to 30 N Belt tension meter setting values Weight: 2.5 g/mm width x m span, Width: 6 mm, Span: 61 mm...
  • Page 421 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Push the belt tensile jig (for J4, J5, and J6) against the Arm #3 as shown in the photo. Insert the screw to the through hole at the center and fix it lightly to the hole for the belt tensile jig.
  • Page 422 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #5 Timing Belt 1. Apply the proper tension to the Joint #5 timing belt and secure the Joint #5 motor unit. Joint #5 timing belt tension: 15 to 30 N Belt tension meter setting values Weight: 2.5 g/mm width x m span, Width: 6 mm, Span: 117 mm...
  • Page 423 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #6 Timing Belt 1. Apply the proper tension to the Joint #6 timing belt and secure the Joint #6 motor unit. Joint #6 timing belt tension: 15 to 30 N Belt tension meter setting values Weight: 2.5 g/mm width x m span, Width: 6 mm, Span: 122 mm...

  • Page 424: Calibration

    Manipulator moves unexpectedly. In EPSON RC+, a coordinate point including the arm pose is defined as “point” and its data is called “point data”. There are two methods to move the Manipulator during calibration.
  • Page 425 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Moving the Manipulator while releasing the electromagnetic brake involves risk as described below. It is recommended to move the Manipulator using Jog & Teach. ⚫ Normally, release the brake of joints one by one. Take extra care if you need to release the brakes of two or more joints simultaneously.
  • Page 426 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only When the home positions of the Joints #1 and #4 are uncertain, check torsion of the internal cables. The home positions NOTE are where the Manipulator has the internal cables not twisted at the basic orientation described in C-B series Manual C8 Manipulator 3.3.6 Checking the Basic orientation, C-B series Manual C12 Manipulator 4.3.6 Checking the Basic...

  • Page 427: Calibration Flowchart

    C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.2.2 Calibration Flowchart Start Record the currently registered point data. Preparation Check the point data for calibration Calibration Procedure 1.Basic Pose Confirmation To replace parts refer to the Chapter Maintenance.

  • Page 428: Calibration Procedure

    Jog Motion Setting of the jog motion is required in some calibration procedures. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page. The panel, window, and page above are indicated as [Jog & Teach] in the calibration procedures.
  • Page 429 Turn ON the Controller while all joints are in the motion range. The error message “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be restarted.” will be displayed. Initialize the encoder at the current position and reset the error.
  • Page 430 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 4. Calibration Calibration marks of each joint (C8XL) 4-1. Move the arm you want to calibrate to the position of the calibration mark. Select menu-[Tool]-[Robot Manager]-[Jog & Teach] panel to move the Manipulator.
  • Page 431 Joint #6 >Encreset 6 4-3.Reboot the Controller. Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>. 4-4.Input the command in the Command window and execute it. Execute one of the following commands to reset the encoder of the joint you want to calibrate from the menu-[Tool]-[Command Window].
  • Page 432 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 4-5.Perform the calibration. Execute one of the following commands to reset the encoder of the joint you want to calibrate from the menu-[Tool]-[Command Window]. Joint #1 >calib 1 Joint #2 >calib 2 Joint #3 >calib 3...
  • Page 433 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 5. Calibration (More accurate positioning) Move the Manipulator to the selected point data by jogging in [Jog & Teach]. Move the joint* which is not calibrated to the specified point by motion command.
  • Page 434 C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 6. Accuracy Testing Move the Manipulator to a different pose (point) to verify whether it moves back to the original position. If accuracy is inadequate, it is necessary to re-calibrate the origin using a different pose (point). You must set the pose (point) again if the Manipulator does not move back to the original position after re-calibration.
  • Page 435 CHAPTER 4Block Diagram/Wiring Diagram...

  • Page 436: Chapter 4 Block Diagram/Wiring Diagram

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.1 Block Diagram 4.1.1 C8-B Gyro board 1 Gyro board 2 CN3 CN6 Signal CN LED Lamp Joint #4 Brake Brake Power Supply Joint #5 Brake Brake Power Supply...

  • Page 437: C12-B

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.1.2 C12-B Gyro board 2 Gyro board 1 CN3 CN6 Signal CN LED Lamp Joint #4 Brake Brake Power Supply Joint #5 Brake Brake Power Supply Joint #3 Brake...

  • Page 438: Wiring Diagram

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2 Wiring Diagram 4.2.1 Ground Wire (PE, FB) Gyro board 2 Connection FB15 - FB8 FB14 - FB6 FB17 - FB16 FB12 - FB4 FB13 - FB5 FB11 - FB3...

  • Page 439: Motor Cable

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2.2 Motor Cable Connection Joint #4 Motor Joint #1 Motor - CN311 - CN312 - M/C Signal Joint #2 Motor - CN321 - CN300 - M/C Signal Joint #3 Motor - CN331...

  • Page 440: Brake Wire, Led Wire

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2.3 Brake Wire, LED Wire Connection - B-release J1 Brake - CN410 - Brake Power Supply - CN411 LED Lamp - CN202 - M/C Power - B-release Joint #4 Brake...

  • Page 441: User Plate

    C8-B/C12-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2.4 User Plate Connection F-sensor - CN592 - F-sensor D-sub 15pin - CN521 - D-sub 15pin RJ45 - RJ45 D- sub 15pin F-sensor RJ45 RJ45 F-sensor D-sub 15pin (C) Seiko Epson Corporation Rev.1...
  • Page 442 CHAPTER 5Exploded View/Maintenance Parts List...

  • Page 443: Exploded View

    C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only 5.1 Exploded View 5.1.1 C8-B (C) Seiko Epson Corporation Rev.1...
  • Page 444 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 445 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 446 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 447 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...

  • Page 448: C12-B

    C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only 5.1.2 C12-B (C) Seiko Epson Corporation Rev.1...
  • Page 449 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 450 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 451 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 452 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation 5-10 Rev.1...

  • Page 453: Maintenance Parts List

    C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only 5.2 Maintenance Parts List 5.2.1 C8-B Overhaul Ref. No. Parts Name Parts Code Note  Timing Belt 1655929 Joint #1 (C8L-B)  Timing Belt 1655930 Joint #1 (C8XL-B) ...
  • Page 454 C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only Overhaul Ref. No. Parts Name Parts Code Note  Timing Belt 1655932 Joint #5  Timing Belt 1655933 Joint #6 Gyro Board 1 2228302 Gyro Board 2...

  • Page 455: C12-B

    C8-B/C12-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only 5.2.2 C12-B Overhaul Ref. No. Parts Name Parts Code Note  Timing Belt 1655930 Joint #1  Motor 2232752 Joint #1  Brake 2172926 Joint #1, Joint #2 ...

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