Epson SCARA GX8 Series Service Manual
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Epson SCARA GX8 Series Service Manual

Epson SCARA GX8 Series Service Manual

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SCARA ROBOT
GX8 Series
Service Manual
Rev.6
ENSM232R0004

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  • Page 1 SCARA ROBOT GX8 Series Service Manual Rev.6 ENSM232R0004...
  • Page 2 The company names and product names described in this service reference 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. © Seiko Epson Corporation. 2024 ©...

  • Page 3: 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. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 4: Table Of Contents

    2.5.9 Installing the Joint #4 Timing Belt (U2) 2.2.2 Installing the Joint #1 Motor Unit 2.6 Bellows 2.2.3 Disassembling the Joint #1 Motor Unit 2.6.1 Removing the Bellows 2.2.4 Assembling the Joint #1 Motor Unit 2.6.2 Installing the Bellows © Seiko Epson Corporation. 2024 Rev.6...
  • Page 5 3.1.6.2 Implementing Calibration Only using the Wizard 191 3.1.6.3 Implementing Joint Accuracy Calibration Only 3.1.6.4 Accurate Calibration of Joint #2 3.1.6.5 Calibration Using Right / Left Arm Orientations 3.1.6.6 Calibration Procedure without Using Calibration Wizard 3.1.7 Verification © Seiko Epson Corporation. 2024 Rev.6...

  • Page 6: Chapter 1 Maintenance Information

    CHAPTER Maintenance Information...

  • Page 7: Safety Maintenance

    When maintaining the manipulator, wear at least the following protective gear. Working without protective gear may  cause serious safety problems. - Work clothes suitable for work - Helmet - Safety shoes © Seiko Epson Corporation. 2024 Rev.6...
  • Page 8 If swallowed, do not induce vomiting. See a doctor immediately. If grease just gets into your mouth, wash out your mouth with water thoroughly. - If grease gets on your skin Wash the area thoroughly with soap and water. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 9: General Maintenance

    (2,000 h) √ 9 months (2,250 h) √ √ 10 months (2,500 h) √ √ 11 months (2,750 h) √ √ √ √ 12 months (3,000 h) 13 months (3,250 h) √ 20,000 h √ © Seiko Epson Corporation. 2024 Rev.6...

  • Page 10: Inspection Point

    Check that there is no unusual sound or vibration during operation, no stiffness or looseness in the sliding parts or moving parts, and that the Check whether unusual sound or vibration operation is performed smoothly. occurs. If an abnormality is suspected, replace the part in which the abnormality has occurred. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 11: Overhaul (Parts Replacement)

    NOTE 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 parts subject to maintenance (Motors, Reduction Gears, Timing Belts, and Ball Screw Spline Unit) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
  • Page 12 Maintenance Information GX8 Series Service Manual 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]- （3） Select “General” or specify the axis from the tree to [Maintenance] to display the [Controller Tools] dialog display information of the target parts.

  • Page 13: How To Edit The Maintenance Information

    How to Edit the Maintenance Information The configured maintenance information can be edited in the EPSON RC+ 7.0 Ver.7.2.x or later. When replaced the parts subject to maintenance (Motors, Reduction Gears, Timing Belts, and Ball screw spline) or greased to Joint #3 Ball Screw Spline Unit, please edit the Maintenance Information.
  • Page 14 (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) © Seiko Epson Corporation. 2024...

  • Page 15: Tools

    For wiping grease from the J1/J2 Reduction Gear and the Ball Screw Spline. Sonic Belt Tension Meter 3.2 Adjusting the Timing Belt Tension Force gauge 3.2 Adjusting the Timing Belt Tension Suitable cord (Length about 800 mm) 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.6...

  • Page 16: Materials Used

    Proper quantity For details, refer to 1.2.5 Greasing. Alcohol Proper quantity For wiping grease from the J1/J2 Reduction Gear and the Ball Screw Spline. AB100 Wire tie AB150 Proper quantity Fixing the cables AB200 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 17: Greasing

    NOTE 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 grease on the Ball Screw Spline Unit can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
  • Page 18 THK AFB-LF Grease Manufacturer: THK CO., LTD. URL: https://www.thk.com/ Product name: Harmonic Grease SK-1A Manufacturer: Harmonic Drive Systems Inc. URL: https://www.harmonicdrive.net/ Product name: Krytox®GPL-224 Manufacturer: Chemours URL: https://www.chemours.com/en/brandsand-products Product name: LOCTITE242 Manufacturer: LOCTITE URL: https://loctite.com/ © Seiko Epson Corporation. 2024 Rev.6...

  • Page 19: Tightening Bolts/Screws

    (Circuit boards, etc.) 0.45 +/- 0.1 0.6 +/- 0.1 Cross recessed pan head screw (Cable fixing plates, etc.) 0.9 +/- 0.1 0.9 +/-0.1 Hexagon socket head set screw 2.4 +/- 0.1 4.0 +/- 0.2 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 20 Do not fasten all bolts securely at one time. Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 21: Matching Origins

    After parts have been replaced (motors, Reduction Gears, etc.), the Manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the Controller. After replacing the parts, perform the calibration to match these origins. For details, refer to Calibration. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 22: Parts Layout

    Gasket (P) DC/DC Gasket Board (C, P) Control Board Rubber Rubber Joint #3 Motor Bellows Gasket Gasket (C, P) (C, P) U1 belt Joint #1 Reduction Gear Joint #1 Motor M/C connector Rubber Gasket (P) © Seiko Epson Corporation. 2024 Rev.6...

  • Page 23: Wall Mounting

    Gasket Control Board Joint #3 Motor Bellows Rubber Rubber Rubber (C, P) Rubber Joint #2 belt Gasket Gasket Gasket Gasket Joint #2 U1 belt (C, P) (C, P) (C, P) (C, P) Reduction Gear © Seiko Epson Corporation. 2024 Rev.6...

  • Page 24: Ceiling Mounting

    U2 belt Rubber Gasket Rubber Joint #1 Gasket Reduction Gear (C, P) Joint #2 Control Board Rubber Bellows Rubber Reduction Gear Cable Unit Rubber Rubber Gasket Joint #3 Motor Gasket Gasket Gasket U1 belt © Seiko Epson Corporation. 2024 Rev.6...

  • Page 25: Cable Downward

    Rubber (C,P) Gasket Bellows (C,P) Rubber Control Board Rubber U1 belt Joint #3 Motor Gasket Gasket (C,P) (C,P) Rubber Joint #1 DC/DC Gasket Board Reduction Gear Joint #1 Motor Rubber Gasket (P) M/C connector © Seiko Epson Corporation. 2024 Rev.6...

  • Page 26: Differences From The Table Top Mounting

    Maintenance Information GX8 Series Service Manual 1.4 Differences from the Table Top Mounting 1.4.1 Base Connector Unit Table top mounting: GX8-***S Cable downward: GX8-***SB © Seiko Epson Corporation. 2024 Rev.6...

  • Page 27: Rear Connector Unit

    Maintenance Information GX8 Series Service Manual 1.4.2 Rear Connector Unit Table top mounting: GX8-***S Cable downward: GX8-***SB Wall mounting: GX8-***SW Ceiling mounting: GX8-***SR © Seiko Epson Corporation. 2024 Rev.6...

  • Page 28: Base Unit

    Maintenance Information GX8 Series Service Manual 1.4.3 Base Unit Table top mounting: GX8-***S Wall mounting: GX8-***SW Ceiling mounting: GX8-***SR Cable downward: GX8-***SB © Seiko Epson Corporation. 2024 Rev.6...

  • Page 29: Arm 1Unit

    Maintenance Information GX8 Series Service Manual 1.4.4 Arm 1 Unit Wall mounting ： GX8-***SW Table top mounting: GX8-***S Cable downward: GX8-***SB Ceiling mounting: GX8-***SR © Seiko Epson Corporation. 2024 Rev.6...

  • Page 30: Chapter 2 Maintenance

    CHAPTER Maintenance...

  • Page 31: Overview

    • When applying grease, take care that the grease does not adhere on to the surrounding parts. Oil separation of the surrounding grease may result in oil leakage. Therefore, be sure to wipe off any adhering grease. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 32: Viewing The Maintenance Page

    [Alt] key and the [←] key. viewer. For details, refer to Help of each viewer. * The operation method may differ depending on the viewer. For details, refer to Help of each viewer. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 33: Joint #1

    Since the cover cannot be removed while the Manipulator Base Bottom Cover is still installed, remove the Manipulator from the work S01: 8-M3x8 table, lay it on its side, and then perform the work. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 34: Installing The Joint #1 Motor Unit

    Joint #1 Motor unit S01: 6-M4×15 Before installing, apply grease at the location shown in the 4.0 +/-0.2 N·m figure. Waveform Generator Step 2 Base Bottom Cover S01: 8-M3x8 Motor unit 2.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 35 (Turn back and forth three times by 4.0 +/-0.2 N·m approximately 90° each time.) After the completion of centering, fully tighten the bolts. 90° Step 2 Base Bottom Cover S01: 8-M3x8 2.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 36 Step 1 Joint #1 Motor unit S01: 6-M4×15 4.0 +/-0.2 N·m Step 2 Base Bottom Cover CAUTION S01: 8-M3x8 After assembling the motor unit, perform calibration of 2.0 +/-0.1 N·m Joint #1. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.6...

  • Page 37: Disassembling The Joint #1 Motor Unit

    An Oil Seal is attached to the Motor Plate. Be careful not Motor Plate to damage the Oil Seal when removing the Motor Plate. S01: 4-M6x18 Oil Seal Joint #1 Motor unit Motor Plate © Seiko Epson Corporation. 2024 Rev.6...

  • Page 38: Assembling The Joint #1 Motor Unit

    CAUTION Make sure there is no damage such as scratches to the Oil Seal. If the Oil Seal is damaged, oil leakage may occur. If damage is present, replace with a new Motor Plate. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 39 If the installation orientation is incorrect, the cable will not reach the connectors after the motor is fixed in the base. CAUTION Perform centering when installing the Joint #1 Motor unit into the Manipulator. Here, temporarily tighten the bolts. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 40 Flexspline may deviate, and the performance of the Reduction Gear may not be sufficiently exhibited. Step 1 O-ring Waveform Generator S05: 2-M5x8 Shaft Step 2 Motor Plate 1±0.07 mm S01: 4-M6x18 13.0 +/-0.65 N·m Screws Joint #1 Motor unit D-Cut © Seiko Epson Corporation. 2024 Rev.6...

  • Page 41: Removing The Joint #1 Reduction Gear Unit

    Flexspline Wire tie S02: 8-M8x20 Bolt Step 2 Remove the Circularspline by Spacer pulling the wire tie handle. Step 3 Circularspline S02: 16-M5x25 The Circularspline and Flexspline can be removed together. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 42: Installing The Joint #1 Reduction Gear Unit

    If the attachment method is Step 1 incorrect, the removal taps will Circularspline become unusable, making it S02: 16-M5x25 difficult to remove the 10.0 +/-0.5 N·m Circularspline. Circularspline © Seiko Epson Corporation. 2024 Rev.6...
  • Page 43 44.4 +/-2.2 N·m Shaft Unit Flexspline Step 3 CAUTION Make sure that the gear teeth of the Circularspline and Spacer Flexspline firmly fit together. Step 1 Circularspline Flexspline S02: 16-M5x25 10.0 +/-0.5 N·m Circularspline © Seiko Epson Corporation. 2024 Rev.6...
  • Page 44 Flexspline the figure. S02: 8-M8x20 Grease 44.4 +/-2.2 N·m Step 3 Spacer Flexspline Step 1 Circularspline CAUTION S02: 16-M5x25 10.0 +/-0.5 N·m After assembling the motor unit, perform calibration of Joint #1. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.6...

  • Page 45: Joint #2

    Next, remove the wire tie securing the Silicone Sheet and the signal cables, then remove CN321-1. Wire tie (securing the Silicone Sheet) Wire tie (securing the Silicone Sheet CN321-1 Silicone Sheet and cables) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 46 Arm2 Cover S04: 4-M4x20 POINT When removing the Timing Belt from the pulley, tilt the motor unit to remove. Step 3 Joint #2 Motor unit S01: 3-M4x20 with captive washer Step 2 Connectors and cables © Seiko Epson Corporation. 2024 Rev.6...

  • Page 47: Installing The Joint #2 Motor Unit

    Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension POINT If you strum the belt too hard, the tension cannot be measured correctly. Strum the belt lightly. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 48: Maintenance

    Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m CN141-2 Step 2 CN121-2 Connectors and cables CN121、CN141 Place the wire tie (AB150) over the groove in the plate to secure the cables. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 49 Joint #2 Motor unit connectors from rubbing against S01: 3-M4x20 with captive washer each other, and then attach the 4.0 +/-0.2 N·m wire tie (AB150). Silicone Sheet CN321-1 CN341-1 Step 2 Connectors and cables © Seiko Epson Corporation. 2024 Rev.6...

  • Page 50: Replacing The Joint #2 Motor Unit

    D-Cut of the motor shaft. Pulley S01: 2-M5x8 Shaft 4.0 +/-0.2 N·m D-Cut Pulley * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 51: Removing The Joint #2 Timing Belt

    S01: 3-M4x20 with captive washer LED Board Remove the wire tie, and remove CN1 (LED Board cable) Step 4 and CN3G0-1 (Control Board cable). Connectors and cables CN3G0-2 Step 5 Timing Belt CN3G0-1 LED Board © Seiko Epson Corporation. 2024 Rev.6...
  • Page 52 Silicone Sheet, and remove Joint #2 Motor unit CN331-1. S01: 3-M4x20 with captive washer Step 4 Connectors and cables Remove CN131-2 (J3 Motor Power). Step 5 Timing Belt Remove CN131-1 (J3 Motor Power). Remove the wire tie. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 53 Step 4 FB7. Connectors and cables (S04: 2-M4x6) Step 5 Timing Belt CN400-1 CN430-2 CN440-2 Wire tie (AB150) Remove the following connectors. CN400-1 (Brake Branch Power) CN430-1 (Brake Branch J3) CN440-2 (Brake Branch J4) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 54 Remove CN401-1 (Brake Step 3 Power). Joint #2 Motor unit Remove the wire tie, S01: 3-M4x20 with captive washer and remove CN401-1. Step 4 Connectors and cables Step 5 Timing Belt Wire tie (AB150) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 55 Joint #2 Motor unit S01: 3-M4x20 with captive washer CN141-2 Step 4 Connectors and cables Step 5 CN121-2 Timing Belt CN341-1 CN321-1 Wire tie Silicone Sheet PE6, PE7 Wire tie (S04: 2-M4x6 and Washer) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 56 Cut the wire tie and remove the Silicone S04: 6-M4x16 Sheet. Step 3 Silicone sheet Joint #2 Motor unit S01: 3-M4x20 with captive washer Step 4 Connectors and cables Step 5 Timing Belt Wire tie © Seiko Epson Corporation. 2024 Rev.6...
  • Page 57 Step 4 Connectors and cables Step 5 Tilt the Center Plate and remove the Timing Belt according to the procedure Timing Belt described below. Timing Belt Center Plate Cable Unit Timing Belt Timing Belt © Seiko Epson Corporation. 2024 Rev.6...

  • Page 58: Installing The Joint #2 Timing Belt

    After attaching the Timing Belt, tighten the bolts of the Center Plate to fix it in place. Step 1 Center Plate Timing Belt Step 2 Connectors and cables S01: 3-M4x12 with Washer 4.0 +/- 0.2 N・m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 59 S01: 3-M4x20 with captive washer Separate the cables as shown in the Figure1 and Figure2. 4.0 +/-0.2 N·m Cable Unit Step 1 Timing Belt Step 2 Connectors and cables Reduction Gear Unit Figure 1 Figure 2 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 60 Center Plate User Plate S04: 6-M4x16 0.9 +/-0.1 N·m Step 3 Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Step 1 Timing Belt Step 2 Connectors and cables Silicone Sheet © Seiko Epson Corporation. 2024 Rev.6...

  • Page 61: Overall View

    0.9 +/-0.1 N·m Step 3 Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Step 1 CN141-2 Timing Belt Step 2 CN121-2 Connectors and cables CN321-1 CN341-1 PE6, PE7 (S04: 2-M4x6 and Washer) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 62 S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m CN121-2 Step 1 Timing Belt Step 2 Connectors and cables CN121、CN141 Place the wire tie (AB150) over the groove in the plate to secure the cables. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 63 Joint #2 Motor unit tie (AB150). S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Silicone Sheet Step 1 CN321-1 Timing Belt CN341-1 Step 2 Connectors and cables © Seiko Epson Corporation. 2024 Rev.6...
  • Page 64 Step 3 Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Cradle Step 1 Timing Belt Step 2 Connectors and cables Pass the wire tie through the cradle and fix the cables. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 65 Wrap the cables with the Silicone Sheet as shown Step 1 in the figure and secure them with the wire tie. Timing Belt Step 2 Connectors and cables CN1, CN3G0-2, Silicone Sheet, Wire tie (AB150) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 66 Wire tie mount Plate Wire tie CN400-2 CN430-2 （AB100） Wire tie CN440-1 （AB100） Use the wire tie mount in the orientation shown in the figure. Bundle the cables with the wire tie (AB100). © Seiko Epson Corporation. 2024 Rev.6...
  • Page 67 0.9 +/-0.1 N·m Step 3 Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Step 1 Timing Belt Fix on the cradle. Step 2 Connectors and cables Cradle Intermediate Pulley Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 68 Joint #2 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Step 1 Timing Belt Step 2 Connectors and cables CAUTION After assembling the motor unit, perform calibration of Joint #2. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.6...

  • Page 69: Removing The Joint #2 Reduction Gear Unit

    Step 8 Arm2 Wire tie S02: 16-M4x28 and Washer Step 9 Reduction Gear Unit S01: 10-M6x18 and Washer Step 7 Cable Unit Step 6 Side Cover S04: 4-M4x16 Step 5 Cap Cover S04: 4-M4x12 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 70 Reduction Gear Unit Tubes. S01: 10-M6x18 and Washer Wire tie Polyester tube Step 7 Cable Unit Step 6 Side Cover S04: 4-M4x16 Step 5 POINT Cap Cover The Polyester Tube will be reused. S04: 4-M4x12 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 71 Side Cover S04: 4-M4x16 CAUTION As there is a risk of damaging connectors, do not remove the cables Step 5 all at once, but start removing from the thinnest cable. Cap Cover S04: 4-M4x12 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 72 • The O-ring of the Reduction Gear Unit may adhere on to the bottom of Arm2. Step 9 Reduction Gear Unit S01: 10-M6x18 and Washer O-ring Step 7 Cable Unit Step 6 Side Cover S04: 4-M4x16 Step 5 Cap Cover S04: 4-M4x12 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 73 S01: 10-M6x18 and Washer Wire tie (AB150) Holder Washer Step 7 Washer (3 holes) (2 holes) Cable Unit Washer (2 holes) Step 6 Side Cover S04: 4-M4x16 Step 5 S01: 8-M6x18 Washer Cap Cover S04: 4-M4x12 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 74: Maintenance

    Step 3 Cable Unit Washer Washer (2 holes) (3 holes) Washer (2 holes) Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m S01: 8-M6x18 Step 6 Cap Cover Washer S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 75 S04: 4-M4x16 • Be careful not to catch and damage the 0.9 +/-0.1 N·m Step 6 Ground Wire (PE9) when securing the cable S01: 2-M6x18 Cap Cover bracket to Arm1. S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 76 Reduction Gear Unit S01: 10-M6x18 and Washer 13.0 +/-0.65 N·m Step 3 Cable Unit Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m Step 6 Cap Cover S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 77 Step 3 wrench Cable Unit Approx. 8 mm Hexagonal wrench Cable Bracket Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m Step 6 Hexagonal wrench Cable Unit Cap Cover S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 78 Step 1 Reduction Gear Unit S01: 10-M6x18 and Washer 13.0 +/-0.65 N·m Step 3 Cable Unit Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m Step 6 Cap Cover S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 79 Reduction Gear Unit S01: 10-M6x18 and Washer 13.0 +/-0.65 N·m Step 3 Cable Unit Polyester tube Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m Step 6 Wire tie Cap Cover S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 80 S01: 10-M6x18 and Washer Wire tie (AB200) 13.0 +/-0.65 N·m Step 3 Cable Unit Step 5 Side Cover S04: 4-M4x16 0.9 +/-0.1 N·m Step 6 Cap Cover Silicone sheet S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 81 CAUTION After performing maintenance, perform calibration of Joint Step 5 #2, Joint #3 and Joint #4. Side Cover 3.1 Calibration S04: 4-M4x16 Step 6 0.9 +/-0.1 N·m Cap Cover S04: 4-M4x12 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 82: Joint #3

    Motor Power), CN331 (J3 Motor Signal), and Step 2 CN430-1 (J3 Brake). Connectors and cables CN331-1 Wire tie, CN131-1 Silicone Sheet Step 3 Joint #3 Motor unit S01: 3-M4x20 with captive washer CN430-1 Wire tie © Seiko Epson Corporation. 2024 Rev.6...
  • Page 83 When removing the Timing Belt from the pulley, tilt the motor unit and then remove. Step 2 Connectors and cables Step 3 Joint #3 Motor unit S01: 3-M4x20 with captive washer Joint #3 Motor unit © Seiko Epson Corporation. 2024 Rev.6...

  • Page 84: Installing The Joint #3 Motor Unit

    Temporarily tighten the motor unit until the motor plate can slide freely to adjust the belt tension. Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.6...
  • Page 85 0.9 +/-0.1 N·m Step 2 Connectors and cables CN131-1 CN430-1 Silicone Sheet Wire tie (AB100) Step 1 Joint #3 Motor unit S01: 3-M4x20 with captive washer CN331-1 4.0 +/-0.2 N·m CN131-1 CN430-1 Wire tie (AB100) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 86 0.9 +/-0.1 N·m Step 2 Connectors and cables Step 1 Joint #3 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m CAUTION After performing the maintenance procedure, perform calibration of Joint #3. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.6...

  • Page 87: Replacing The Joint #3 Motor Unit

    Mounting Jig (ASP code: 1876947). Place the jig on a flat surface and marked with red and the edge make sure there is no movement. of the motor shaft become Pulley level. Shaft Pulley Mounting Pulley Mounting JIG © Seiko Epson Corporation. 2024 Rev.6...
  • Page 88 Joint #3 Motor Motor Plate Step 2 Joint #3 Motor unit Motor Plate S01: 4-M4x15 and Washer 4.0 +/-0.2 N·m Step 1 Pulley Brake cable S05: 2-M4x8 2.4 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 89: Replacing The Joint #3 Brake Unit

    S05: 1-M5x8 4.0 +/-0.2 N·m Step 1 Brake Hub S01: 2-M2.5x15 1.0 +/-0.1 N·m D-Cut Screw hole * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 90: Removing The Joint #3 Timing Belt

    S01: 1-M4x10 Step 5 Spline Plate Remove the Timing Belt by lifting up the Spline Plate without S01: 3-M4x10 removing the Ball Screw Spline. Timing Belt Step 3 Spline Plate Under Cover S04: 4-M4x18 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 91: Installing The Joint #3 Timing Belt

    Spline Unit will be positioned to the center of the arm. Step 2 Spline Plate S01: 3-M4x10 4.0 +/-0.2 N·m Spline Plate Step 4 After performing adjustment, fix the bolts of the Spline Plate. Under Cover S04: 4-M4x18 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 92 Cable Bracket S01: 2-M4x10 and Washer, 4.0 +/-0.2 N·m S01: 1-M4x10, 4.0 +/-0.2 N·m Step 2 Spline Plate S01: 3-M4x10 4.0 +/-0.2 N·m Control Board Step 4 Under Cover S04: 4-M4x18 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 93: Joint #4

    CN341-1(J2モーターシグナル Next, remove the wire tie securing the Silicone Sheet and the signal cables, then remove CN341-1. Wire tie (securing the Silicone Sheet) Wire tie (securing the Silicone Sheet and cables) CN341-1 Silicone sheet © Seiko Epson Corporation. 2024 Rev.6...
  • Page 94 Remove the screws shown in the figure and remove the Joint #4 Step 3 Motor Unit. Joint #4 Motor unit S01: 3-M4x20 with captive washer When removing the Timing Belt from the pulley, tilt the motor unit and then remove. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 95: Installing The Joint #4 Motor Unit

    Temporarily tighten the motor unit until the motor plate slides freely to adjust the belt tension. Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.6...
  • Page 96 Connectors and cables Wire tie (AB150) Place the wire tie over the Step 1 groove in the plate to secure Plate the cables. Joint #4 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 97 Joint #4 Motor unit CN321-1 S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m CN341-1 Secure the connector and motor cables to the plate with the wire tie (AB150) passed through the holes in the plate. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 98: Replacing The Joint #4 Motor Unit

    Cut of the motor shaft. Push the pulley until it is aligned against the 2.4 +/-0.1 N·m end of the motor shaft. D-Cut Shaft Screw hole Pulley * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 99: Removing The Joint #4 Intermediate Pulley Unit

    S01: 3-M4x20 with captive washer Wire tie Step 3 Connectors and cables Step 4 Remove the wire tie and Intermediate Pulley Unit remove CN440-1 (J4 S01: 3-M4x20 with captive washer Brake). Wire tie CN440-1 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 100 S01: 3-M4x20 with captive washer Step 3 Connectors and cables Step 4 Intermediate Pulley Unit S01: 3-M4x20 with captive washer When removing the Timing Belt from the pulley, tilt the Intermediate Pulley and then remove. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 101: Installing The Joint #4 Intermediate Pulley Unit

    Temporarily tighten the Intermediate Pulley Unit until it can slide freely to adjust the belt tension. Belt tension adjustment Adjust the tension of the Z belt and U2 belt after installing the Intermediate Pulley Unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.6...
  • Page 102 Step 1 CN331-1 Intermediate Pulley Unit CN131-1 S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m CN440-1 Wire tie mount Wire tie (AB100) Use the wire tie mount in the orientation shown in the figure. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 103: Replacing The Joint #4 Intermediate Pulley Unit

    Intermediate 0.5 mm gap Pulley Step 3 Brake S01: 2-M3x8 and Washer 2.0 +/-0.1 N·m Brake * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 104: Replacing The Joint #4 Timing Belt (U1)

    S01: 3-M4x20 with captive washer U1 Timing Belt 4.0 +/-0.2 N·m Step 4 U1 Timing Belt (Z Timing Belt) * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 105: Removing The Joint #4 Timing Belt (U2)

    Lift up the Spline Plate and remove the U2 Timing Belt. Joint #3 Motor unit S01: 3-M4x20 with captive washer Step 2 Spline Plate Joint #4 Motor unit S01: 3-M4x20 with captive washer U2 Timing Belt © Seiko Epson Corporation. 2024 Rev.6...

  • Page 106: Installing The Joint #4 Timing Belt (U2)

    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 with respect to the pulley without it being placed on the flange. Flange Timing Belt © Seiko Epson Corporation. 2024 Rev.6...
  • Page 107 Spline Unit is will be positioned to the center of the arm. Spline Plate S01: 3-M4x10 4.0 +/-0.2 N·m Step 3 Joint #4 Motor unit S01: 3-M4x20 with captive washer 4.0 +/-0.2 N·m Spline Plate After performing adjustment, fix the bolts of the Spline Plate. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 108: Bellows

    Step 4 Step 3 Rubber Gasket Removing the Lower Bellows Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Rubber Gasket with bolt holes Upper Holder Rubber Gasket with bolt Lower Holder holes S01: 4-M2.5x8 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 109 Step 3 Rubber Gasket Removing the Lower Bellows Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Rubber Gasket Lower Rubber Gasket with bolt holes with bolt holes Holder Lower Holder Lower Holder S01: 4-M2.5x8 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 110 Upper Bellows Upper Presser Nut Rubber Gasket Step 4 Step 3 Rubber Gasket Removing the Lower Bellows Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Rubber Gasket with bolt holes Lower Holder S01: 4-M2.5x8 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 111: Installing The Bellows

    Upper Presser Nut Rubber Gasket Step 1 Rubber Gasket Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Step 2 Rubber Gasket with bolt holes Installing the Lower Lower Holder Bellows S01: 4-M2.5x8 1.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 112 Lower Presser Nut with a hook wrench. Step 1 Rubber Gasket Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Step 2 Rubber Gasket with bolt holes Installing the Lower Lower Holder Bellows S01: 4-M2.5x8 1.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 113 Upper Presser Nut Rubber Gasket Step 1 Rubber Gasket Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Step 2 Rubber Gasket with bolt holes Installing the Lower Lower Holder Bellows S01: 4-M2.5x8 1.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 114 Upper Presser Nut with a hook wrench. Rubber Gasket Lower Presser Nut Lower Bellows Lower Bellows (Urethane) Step 2 Rubber Gasket with bolt holes Installing the Lower Lower Holder Bellows S01: 4-M2.5x8 Upper Presser Nut 1.0 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 115: Ball Screw Spline Unit

    S01: 3-M4x20 with captive washer Removing the bellows If a bellows has been attached, remove it. Step 6 Ball Screw Spline Unit S01: 4-M4x12 S01: 3-M4x10 Step 5 Under Cover S04: 2-M4x16 S04: 4-M4x18 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 116 Screw Spline on the bottom surface of Arm2, you can remove the Ball Screw Spline Unit from Arm2. Step 6 Ball Screw Spline Unit Ball Screw S01: 4-M4x12 Spline Unit S01: 3-M4x10 Step 5 Shaft Under Cover S04: 2-M4x16 S04: 4-M4x18 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 117: Installing The Ball Screw Spline Unit

    Set the belt so that it is level with respect to the pulley without it being placed on the flange. Step 2 Flange Under Cover Timing Belt S04: 2-M4x16, 0.9 +/-0.1 N·m S04: 4-M4x18, 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...
  • Page 118 S01: 4-M4x12, 4.0 +/-0.2 N·m S01: 3-M4x10, 4.0 +/-0.2 N·m Step 2 Under Cover S04: 2-M4x16, 0.9 +/-0.1 N·m After performing adjustment, fix the bolts of the Ball Screw Spline Unit. S04: 4-M4x18, 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 119: Greasing The Ball Screw Spline Unit

    Brake Release Switch, and turn OFF the Controller. Turn ON the Controller. Move the shaft to its lower limit manually while pressing the Brake Release Switch, and turn OFF the Controller. Brake Release Switch © Seiko Epson Corporation. 2024 Rev.6...
  • Page 120 Arm2 Cover. Turn ON the Controller. Move the shaft up and down a few times while pressing the Brake Release Switch so that the grease spreads uniformly in the shaft. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 121: Cleanroom Model / Protected Model

    CAUTION Apply grease by hand to the extent that the shaft groove is filled with grease. Wipe off the excess grease so that it does not get scattered to the workpiece and peripheral equipment. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 122 Apply grease by hand to the extent that the shaft groove is filled with grease. Wipe off the excess grease. (14) Attach the Upper Presser Nut and Bellows to the Arm2 Cover. (10) Turn ON the Controller. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 123: Board

    S04: 4-M4x20 0.9 +/-0.1 N·m Removing the connector Step 2 LED Board S04: 2-M3x5 0.6 +/-0.1 N·m * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 124: Replacing The Sub-B Board

    Sub-B Board Removing the connectors Step 2 Sub-B Board S03: 2-M3x5 0.45 +/-0.1 N·m * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 125: Replacing The Control Board

    Step 1 Under Cover S04: 2-M4x16, 0.9 +/-0.1 N·m S04: 4-M4x18, 0.9 +/-0.1 N·m Fall Prevention Screw * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 126: Cable Unit

    Tube from the Air Tube. Step 1 The Polyester Tube will be reused. Cable Connector Plate Bracket Step 7 Removal of cables from Arm2 side Step 8 Wire tie Removal of cables from Connector Plate side Polyester tube © Seiko Epson Corporation. 2024 Rev.6...
  • Page 127 Remove the wire tie from the Spring Fixing Plate, and then remove the Cable Unit. Step 7 Removal of cables Spring Fixing Plate from Arm2 side Step 8 Wire tie Removal of cables from Connector Plate side © Seiko Epson Corporation. 2024 Rev.6...
  • Page 128 S04: 4-M4x12 Step 2 Spring Fixing Plate S01: 2-M4x8 S01: 2-M4x20 Step 1 Cable Connector Plate Bracket Step 7 Removal of cables from Arm2 side Step 8 Removal of cables from Connector Plate side © Seiko Epson Corporation. 2024 Rev.6...
  • Page 129 S01: 2-M4x20 and CN3G0-1 (Control Board cable). CN3G0-2 Step 1 CN3G0-1 Cable Connector Plate Bracket Step 7 Removal of cables from Arm2 side Step 8 Removal of cables LED Board from Connector Plate side © Seiko Epson Corporation. 2024 Rev.6...
  • Page 130 S01: 2-M4x20 Silicone Sheet CN331-1 Wire tie Cable Step 1 CN131-1 Bracket CN440-1 Connector Plate Step 7 Removal of cables from Arm2 side Step 8 Removal of cables from Connector Plate side FB6、FB7 (S04: 2-M4x6) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 131 Motor Power). Cable Step 1 Bracket Connector Plate Step 7 Removal of cables from Arm2 side Step 8 Removal of cables from Connector Plate side Remove CN131-1 (J3 Motor Power). Remove the wire tie. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 132 Removal of cables CN430-2 from Arm2 side CN440-2 Step 8 Remove the following connectors. Wire tie (AB150) Removal of cables CN400-1 (Brake Branch Power) from Connector Plate side CN430-1 (Brake Branch J3) CN440-2 (Brake Branch J4) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 133 Step 2 Spring Fixing Plate S01: 2-M4x8 S01: 2-M4x20 Step 1 Connector Plate Cable Bracket Wire tie (AB150) Step 7 Removal of cables from Arm2 side Step 8 Removal of cables from Connector Plate side © Seiko Epson Corporation. 2024 Rev.6...
  • Page 134 Connector Plate Cable Bracket Step 7 Removal of cables CN341-1 from Arm2 side CN321-1 Step 8 Wire tie Silicone sheet Removal of cables from Connector Plate side PE6, PE7 Wire tie (S04: 2-M4x6 and Washer) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 135 S04: 4-M4x12 Step 2 Spring Fixing Plate S01: 2-M4x8 S01: 2-M4x20 Step 1 Connector Plate Cable Bracket Step 7 Removal of cables from Arm2 side Step 8 Removal of cables from Connector Plate side © Seiko Epson Corporation. 2024 Rev.6...
  • Page 136 Manipulator will be described for each of Removal of cables the following parts. from Arm2 side Step 8 Arm2 side Removal of cables from Connector Plate side Connector S01: 2-M6x18 Plate side Cable Braclet © Seiko Epson Corporation. 2024 Rev.6...
  • Page 137 Arm2 side POINT Removal of cables from Connector Plate side The Cable Unit can be taken out from the opening of either the Side Cover or Cap Connector Cover closest to Arm2. Plate side © Seiko Epson Corporation. 2024 Rev.6...

  • Page 138: Installing The Cable Unit

    Cable Bracket Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit POINT The Cable Unit can be inserted from the opening of either the Side Cover or Cap Cover. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 139 Step 3 Spring Fixing Plate S01: 2-M4x8, 4.0 +/-0.2 N·m S01: 2-M4x20, 4.0 +/-0.2 N·m Step 4 Cable Bracket Connector Plate Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 140 S01: 2-M4x20 Drawing the cables to Arm2 side Step 1 Fix the Spring Fixing Plate to the Inserting the Cable Unit top side of the base before fixing the Cable Unit with wire ties. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 141 S01: 2-M4x20, 4.0 +/-0.2 N·m the wire tie set in the Spring Fixing Plate. Saddle Clamp Step 4 S01: 2-M4x8 Cable Bracket Connector Plate Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 142 Step 4 Cable Bracket Connector Plate Polyester tube Step 5 Drawing the cables to Arm2 side Step 1 Pair one tube with a Inserting the Cable Unit smaller diameter and one with a larger diameter. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 143 Step 5 • Be careful not to catch and damage the Ground Wire (PE9) when Drawing the cables to Arm2 side Step 1 securing the cable bracket to Arm1. Inserting the Cable Unit S01: 2-M6x18 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 144 Step 4 Hexagonal Connector Plate wrench Cable Bracket Approx. 8 mm Hexagonal wrench Cable Bracket Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit Hexagonal wrench Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 145 Step 3 Spring Fixing Plate S01: 2-M4x8, 4.0 +/-0.2 N·m S01: 2-M4x20, 4.0 +/-0.2 N·m Step 4 Connector Plate Cable Bracket Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 146 Spring Fixing Plate S01: 2-M4x8, 4.0 +/-0.2 N·m S01: 2-M4x20, 4.0 +/-0.2 N·m Step 4 Connector Plate Wire tie Cable Bracket Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 147 CN141-2 S01: 2-M4x20 4.0 +/-0.2 N·m Cable Bracket Step 4 Connector Plate CN121-2 Step 5 Drawing the cables to Arm2 side Step 1 CN341-1 Inserting the Cable Unit PE6, PE7 (S04: 2-M4x6 and Washer) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 148 Step 4 Connector Plate Step 5 CN121、CN141 Drawing the cables to Arm2 side Step 1 Place the wire tie (AB150) over the groove in the plate to secure the cables. Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 149 Spring Fixing Plate S01: 2-M4x8 CN321-1 4.0 +/-0.2 N·m S01: 2-M4x20 4.0 +/-0.2 N·m CN341-1 Cable Bracket Step 4 Connector Plate Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 150 4.0 +/-0.2 N·m Cable Bracket Step 4 Connector Plate Pass the wire tie through Step 5 the cradle and fix the Drawing the cables to Arm2 side cables. Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 151 After connecting the connectors, secure the J3 motor cable and brake cable to the plate with the wire tie. Plate CN400-2 CN430-2 Wire tie (AB100) CN440-1 Bundle the cables with the wire tie (AB100). © Seiko Epson Corporation. 2024 Rev.6...
  • Page 152 (AB100). CN401-1 Secure the cables to the wire tie mount using the wire tie. Wire tie mount Wire tie (AB100) Use the wire tie mount in the orientation shown in the figure. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 153 Spring Fixing Plate S01: 2-M4x8 4.0 +/-0.2 N·m S01: 2-M4x20 4.0 +/-0.2 N·m Cable Bracket Step 4 CN3G0-2 CN3G0-1 Connector Plate Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...
  • Page 154 S01: 2-M4x8, 4.0 +/-0.2 N·m S01: 2-M4x20, 4.0 +/-0.2 N·m Cradle Step 4 Cable Bracket Intermediate Pulley Unit Connector Plate Step 5 Drawing the cables to Arm2 side Step 1 Inserting the Cable Unit © Seiko Epson Corporation. 2024 Rev.6...

  • Page 155: Installing/Removing The Cover

    (Cable downward) S01: 6-M4x10 4.0 +/-0.2 N·m Base Bottom Cover S01: 8-M3x8 Under Cover Cap Cover 2.0 +/-0.1 N·m S04: 2-M4x16, 0.9 +/-0.1 N·m S04: 4-M4x12 S04: 4-M4x18, 0.9 +/-0.1 N·m 0.9 +/-0.1 N·m © Seiko Epson Corporation. 2024 Rev.6...

  • Page 156: User Plate

    User Plate When passing the User Plate through the hole in the Arm2 Cover with the connectors and tubes still connected, be careful not to catch or damage the cables. Release button © Seiko Epson Corporation. 2024 Rev.6...

  • Page 157: Arm2 Cover

    User Plate inside the cover. Place the plate at a location where a load is not applied to the cables and the plate is not likely to fall. S04: 4-M4x20 • When installing the cover, be careful not to pinch the cables. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 158: Connector Plate

    (AB150) FB1, FB2 CN202-1 CN511-2, CN521-2 CAUTION Before removing the plate, remove the M/C cable and all cables connected to the connectors. Air Tube Insert or remove the tube while pressing the release button. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 159: Connector Plate (Cable Downward)

    Connector Plate S01: 8-M3x8 2.0 +/-0.1 N·m Step 4 Cables S04: 3-M4x6 0.9 +/-0.1 N·m Ground wire (PE5) CAUTION Before removing the plate, remove the M/C cable and all cables connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 160 Step 3 Connector Plate S01: 8-M3x8 2.0 +/-0.1 N·m Step 4 Cables S04: 3-M4x6 CN581-2 0.9 +/-0.1 N·m CAUTION Before removing the plate, remove the M/C cable and all cables connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 161 Connector Plate S01: 8-M3x8 2.0 +/-0.1 N·m Step 4 Cables S04: 3-M4x6 0.9 +/-0.1 N·m CAUTION CN521-2 Before removing the plate, remove the M/C cable and all cables CN202-1 CN511-2 connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 162 Air Tube Cables Insert or remove the tube while S04: 3-M4x6 pressing the release button. 0.9 +/-0.1 N·m CAUTION Before removing the plate, remove the M/C cable and all cables connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 163 0.9 +/-0.1 N·m Step 3 Connector Plate S01: 8-M3x8 2.0 +/-0.1 N·m Step 4 Cables S04: 3-M4x6 0.9 +/-0.1 N·m CAUTION Before removing the plate, remove the M/C cable and all cables connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 164 Step 3 Connector Plate S01: 8-M3x8 2.0 +/-0.1 N·m Step 4 Cables S04: 3-M4x6 0.9 +/-0.1 N·m CAUTION Before removing the plate, remove the M/C cable and all cables 301-1/CN301-2 connected to the connectors. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 165: Chapter 3 Adjustment

    CHAPTER Adjustment...

  • Page 166: Calibration

    Calibration is performed using the Calibration Marks that indicates the 0-pulse position. NOTE Calibration is different from teaching*. * Teaching is the operation of teaching set coordinate points (including the posture) within the Manipulator's operating area. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 167 (Reduction Gear, Ball Screw Spline Unit) for a Manipulator with corrected arm lengths are replaced, re-measurement of the arm length is required. Arm length calibration measurements require precise measurements that cannot be performed by the user. Please contact the supplier of your region for the arm length re-measurement. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 168 Execute the procedure in “Calibration Using Right / Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to 3.1.6.4 Accurate Calibration of Joint • When calibrating Joint #4, due to the structure of the Manipulator Joint #3 and #4 must be calibrated at the same time. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 169: Calibration Methods

    GX8 Series Service Manual 3.1.2 Calibration Methods Using the calibration wizard EPSON RC+ has a wizard for calibration. The wizard guides you through the calibration process from specifying the joints to be adjusted and the adjustment items (calibration to be performed).

  • Page 170: Workflow

    * J1/J2 only Accurate Calibration of Joint #2 * J2 only The controller which has the safety board is required to verification after adjustment. Verifying Safety board Operation Verification 3.1.7 Verification * RC700E only © Seiko Epson Corporation. 2024 Rev.6...
  • Page 171 * J2 only Send Hofs to Safety board * RC700E only The controller which has the safety board is required to verification after adjustment. Verifying Safety board Operation Verification 3.1.7 Verification * RC700E only © Seiko Epson Corporation. 2024 Rev.6...

  • Page 172: Preparation

    Execute the following command from the [Command Window]. EPSON >PULSE PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls © Seiko Epson Corporation. 2024 Rev.6...

  • Page 173: 0-Pulse Position Of Each Joint

    Position where the Calibration Marks line up in a straight line Position where the Calibration Marks line up in a straight line Calibration Mark (Arm2) Calibration Mark (Arm1) Calibration Mark Calibration Mark (Arm1) (Base) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 174 Position where the flat surface on the shaft faces toward the tip of Arm #2. The height of Joint #3 depends on Manipulator model. Under Cover 55 mm Mark 88 mm D-Cut Standard model Cleanroom model Protected model © Seiko Epson Corporation. 2024 Rev.6...

  • Page 175: Implementing Calibration

    Jog Motion The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager. Select EPSON RC+ menu - [Tools] - [Robot Manager] and select the [Jog & Teach] tab to use the [Jog & Teach] page.

  • Page 176: Implementing Calibration And Joint Accuracy Calibration Using The Wizard

    This section describes the method of performing calibration and Joint accuracy calibration of Joint #1 and Joint #2. Start the calibration wizard. Confirm the warning message and click the <Yes> button. I. Select EPSON RC+ menu - [Setup] - [System Configuration]. II. Select [Robots] - [Robot**] - [Calibration]. NOTE Only selected robot can be calibrated.
  • Page 177 Select [Standard calibration] and [Joint accuracy Move the joint to calibrate manually to approximate 0 pulse calibration], and click the <Next> button. position, as shown in the dialog. After moving the joint click the <Next> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 178 (Regardless of the Joint #1 direction.) 0 pulse 0 pulse position of Joint #3: upper limit position in motion range NOTE For details on the 0-pulse position, refer to 3.1.5 0-Pulse Position of Each Joint. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 179 • Warning 590 is cleared by updating the Hofs value in the safety board after completing calibration. Step (30) • Since RC700D doesn’t have the safety board, warning 590 doesn’t occur. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 180 The Manipulator moves to the reference point. Click the NOTE • Since RC700E has an error related to the <Execute> button. Safety board, execute <Reset> and then <Motor ON>. Select Jump P0:Z(0) ↑ Point selected in step (7) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 181 After the Manipulator moves to the reference point, click the <Next> button. (15) Jog to the accurate reference position and adjust the position. Click the <OK> button. Adjust to the accurate position and move Joint #3 to around 0 pulse. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 182 Adjustment GX8 Series Service Manual (16) Click the <Next> button. (17) Perform Joint accuracy calibration. Check the precautions and click the <Next> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 183 <Yes> button. After clicking the <Yes> button, the position of Joint #3 automatically moves to the 0 pulse position. The position after the movement of Joint #3 is set to movement point 1. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 184 2 by moving the joint for which calibration is to be performed from movement point 1 through the minimum movement angle or more. (21) Specify movement point 2 for the measurement operation. Click the <Jog> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 185 2 again. (23) Click the <Next> button. NOTE It takes approximately 20 minutes for Joint accuracy calibration to end. (25) Click the <Yes> button. The robot starts moving when you click the <Yes> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 186 Click the <Execute> button again to perform Joint accuracy calibration. • The robot stops as a result of the <STOP> button being clicked or an emergency stop, etc. • An error message appears and the robot stops. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 187 After the Manipulator moves to the reference point, click the <Next> button. iv. The Manipulator moves to the reference point. Click the <Execute> button. Select Jump P0:Z(0) ↑ Point selected in step (7) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 188 Move to another point that has different pose (from righty position. Click the <OK> button. to lefty) using Jump command. Click the <Yes> button. viii. Jog to the accurate reference position. Click the <Jog> button. x. Click the <Next> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 189 ⅲ. Confirm the warning message and click the <OK> button. (30) On RC700E, send the Hofs value to the safety board. * On RC700D, go on to the step (31). i. Confirm the warning message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 190 ⅴ. Confirm the warning message and click the <OK> button. （31） Move the Manipulator to other points and check if it can ⅵ. Confirm the message and click the <OK> button. move without problems. Teach points where appropriate. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 191: Implementing Calibration Only Using The Wizard

    0 (non-correction state). Start the calibration wizard. Confirm the warning message and click the <Yes> button. I. Select EPSON RC+ menu - [Setup] - [System Configuration]. II. Select [Robots] - [Robot**] - [Calibration].
  • Page 192 To perform only standard calibration, select the [Standard calibration] check box only. When only standard calibration is performed, the correction value of Joint accuracy calibration of joints for which standard calibration has been performed is reset to 0 (non-correction state). © Seiko Epson Corporation. 2024 Rev.6...
  • Page 193 (Regardless of the Joint #1 direction.) 0 pulse 0 pulse position of Joint #3: upper limit position in motion range NOTE For details on the 0-pulse position, refer to 3.1.5 0-Pulse Position of Each Joint. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 194 • Warning 590 is cleared by updating the Hofs value in the safety board after completing calibration. Step (19) • Since RC700D doesn’t have the safety board, warning 590 doesn’t occur. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 195 The Manipulator moves to the reference point. Click the NOTE • Since RC700E has an error related to the <Execute> button. Safety board, execute <Reset> and then <Motor ON>. Select Jump P0:Z(0) ↑ Point selected in step (7) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 196 GX8 Series Service Manual (12) Confirm the message and click the <Yes> button. (14) Jog to the accurate reference position. Click the <Jog> button. (13) After the Manipulator moves to the reference point, click the <Next> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 197 GX8 Series Service Manual (15) Jog to the accurate reference position and adjust the (16) Click the <Next> button. position. Click the <OK> button. Adjust to the accurate position and move Joint #3 to around 0 pulse. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 198 Move to another point that has different pose (from righty to lefty) using Jump command. Click the <Yes> button. ii. Jog to the accurate reference position. Click the <Jog> button. iv. Click the <Next> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 199 ⅲ. Confirm the warning message and click the <OK> button. (19) On RC700E, send the Hofs value to the safety board. * On RC700D, go on to the step (20). i. Confirm the warning message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 200 ⅴ. Confirm the warning message and click the <OK> button. （20） Move the Manipulator to other points and check if it can move without problems. ⅵ. Confirm the message and click the <OK> button. Teach points where appropriate. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 201: Implementing Joint Accuracy Calibration Only

    2) are moved. Movement point 1 and movement point 2 are specified according to the wizard. Start the calibration wizard. Confirm the warning message and click the <Yes> button. I. Select EPSON RC+ menu - [Setup] - [System Configuration]. II. Select [Robots] - [Robot**] - [Calibration].
  • Page 202 <Next> button. NOTE When performing only Joint accuracy calibration, perform calibration in advance by either using or not using the calibration wizard. To perform Joint accuracy calibration, specify movement point 1 for the measurement operation. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 203 <Yes> button. After clicking the <Yes> button, the position of Joint #3 automatically moves to the 0 pulse position. The position after the movement of Joint #3 is set to movement point 1. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 204 Specify movement point 2 by moving the joint for which calibration is to be performed from movement point 1 through the minimum movement angle or more. Click the <Next> button. (10) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 205 When Joint accuracy calibration ends, the screen shown below appears. Click the <OK> button. NOTE Joint Accuracy Calibration requires approximately 20 minutes to perform. (12) Click the <Yes> button. The robot starts moving when you click the <Yes> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 206 Click the <Execute> button again to perform Joint accuracy calibration. • The robot stops as a result of the <Pause> button being clicked or an emergency stop, etc. • An error message appears and the robot stops. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 207 ⅳ. Enter the password and click <Confirm> button. ⅴ. Confirm the warning message and click the <OK> button. ⅲ. Confirm the warning message and click the <OK> button. ⅵ. Confirm the message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 208 GX8 Series Service Manual ⅶ. Confirm the message and click the <OK> button. ⅷ. The Controller restarts. （17） Move the Manipulator to other points and check if it can move without problems. Teach points where appropriate. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 209: Accurate Calibration Of Joint #2

    Manipulator to the teaching point to verify whether there is a positional gap. If there is a positional gap, fine-tune the installation position of the end effector and teach the point again. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 210 • Using the Pallet command • Executing CP control (such as liner or circular interpolation) • Using the Local command • Pose data specified with relative coordinates <Example: P1+X(100) > • Vision Guide camera calibrations © Seiko Epson Corporation. 2024 Rev.6...

  • Page 211: Calibration Using Right / Left Arm Orientations

    * If there is interference on the way from right to lefty, click the <Free All> button in the [Control Panel] and change the arm orientation to lefty by hands. Then, go to the step (6), (7). © Seiko Epson Corporation. 2024 Rev.6...
  • Page 212 (12) Move the Manipulator to other point data and make sure it moves to the correct position. Teach some more points if required. * Delete the two points taught for the Joint #2 calibration. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 213: Calibration Procedure Without Using Calibration Wizard

    GX8 Series Service Manual 3.1.6.6 Calibration Procedure without Using Calibration Wizard NOTE This section indicates the calibration without using the calibration wizard of EPSON RC+. For details of calibration using the calibration wizard, refer to 3.1.6.1 Implementing Calibration and Joint Accuracy Calibration using Wizard.
  • Page 214 Joint #3: >EncReset 3 Joint #4: >EncReset 3, 4 (3)-5 Reboot the Controller. 0 pulse Select EPSON RC+ menu- [Tools] - [Controller] and click the <Reset Controller> button. NOTE For details on the 0-pulse position, refer to 3.1.5 0-Pulse Position of Each Joint.
  • Page 215 (4)-1 Execute the following command from the menu - (5)-1 Reboot the Controller. [Tools] - [Command Window]. Select EPSON RC+ menu - [Tools] - [Controller] and >calpls 0,0,0,0 click the <Reset Controller> button. * Manipulator does not move. (5)-2 Click [Control Panel] - <Free All> button to free all...
  • Page 216 * On RC700D, go on to the step (17). Joint #1: >Calib 1 (8)-1 In EPSON RC+, select [Setup] - [System Joint #2: >Calib 2 Configuration], and then under [Controller] - [Safety Joint #3: >Calib 3 Functions], click [Safety Joint #4: >Calib 3, 4...
  • Page 217 Enter the password and click <Confirm> button. (8)-6 Confirm the warning message and click the <OK> button. (8)-4 Confirm the warning message and click the <OK> button. (8)-7 Confirm the message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.6...
  • Page 218 Move the Manipulator to another point to confirm that it moves to the same position. If it does not move to the same position, re-calibrate using another point. You must set the point again if reproducibility cannot be assured through calibration. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 219: Verification

    Adjustment GX8 Series Service Manual 3.1.7 Verification RC700E is required to verifying the safety function after completing calibration. For details on the verification procedure, refer to “RC700E Service Manual 3.4 Verifying Safety board operation”. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 220: Adjusting The Timing Belt Tension

    • A new belt tends to be stretched in the initial aging period (during an operation of approximately 12 hours). Therefore, the tension standard values are different for a new product and a reused product (after the passage of the initial aging period). © Seiko Epson Corporation. 2024 Rev.6...

  • Page 221: Adjustment Method

    For details on the set values and stipulated values, refer to 3.2.1 Belt Tension Values. 2-M4x10 Z belt Joint #2 belt 1-M6x20 Jigs 1-M4x20 and Washer Jigs 2-M4x10 and Washer U1 belt U2 belt 1-M6x20 Jigs 2-M4x10 and Washer 1-M4x12 (Tension Bolt) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 222 When the bolt is tightened, the tension increases further. Tighten the bolts securing the Motor Plate with the correct tightening torque. After tightening the bolts securing the Motor Plate, measure the tension once again for confirmation. Remove the jig. © Seiko Epson Corporation. 2024 Rev.6...

  • Page 223: Chapter 4 Block Diagram/Wiring Diagram

    CHAPTER Block Diagram/Wiring Diagram...

  • Page 224: Block Diagram

    Block Diagram/Wiring Diagram GX8 Series Service Manual 4.1 Block Diagram Joint #4 Overexcitation current Brake Brake Release Switch LED Board Control Board Joint #3 Brake D-Sub 9pin DC/DC Board Attachment/ detachment CN © Seiko Epson Corporation. 2024 Rev.6...

  • Page 225: Wiring Diagram

    FB7 - FB2 PE6 - PE4 PE9 - PE8 FB4 - D-Sub 15pin RJ45 PE1 - Detachment/attachment CN FB5 - D-Sub 9pin (10) PE2 - Detachment/attachment CN (11) PE3 - PE5 (12) FB3 - RJ45 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 226: Motor Cable

    Joint #3 Motor Joint #1 Motor Connection Joint #4 Motor - CN141 Joint #2 Motor - CN121 - CN201 - Detachment/attachment CN Joint #3 motor - CN131 Joint #1 Motor - - CN111 - Detachment/attachment CN © Seiko Epson Corporation. 2024 Rev.6...

  • Page 227: Encoder

    Joint #3 motor - CN331 Joint #1 Motor DC/DC Board (CN1) - Detachment/ attachment CN (CN200) CN202 - Detachment/attachment CN (CN200) CN202 - DC/DC Board (CN3) CN202 - DC/DC Board (CN2) Joint #1 Motor - CN311 - CN202 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 228: Overexcitation Power Supply

    Joint #4 Brake - CN440 - Divergence - CN400 - Overexcitation power supply Joint #3 Brake - CN430 - (2) Overexcitation power supply - CN401 - LED Board (CN1) LED Board (CN1) - CN301 - CN202 © Seiko Epson Corporation. 2024 Rev.6...

  • Page 229: User Plate

    4.2.5 User Plate D-Sub 9pin D-Sub 15pin RJ45 D-Sub 9pin RJ45 D-Sub 15pin Connection RJ45 - RJ45 D-Sub 9pin - CN511 - CN511 - D-Sub 9pin D-Sub 15pin - CN521 - CN521 - D-Sub 15pin © Seiko Epson Corporation. 2024 Rev.6...

  • Page 230: Chapter 5 Exploded View/Maintenance Parts List

    CHAPTER Exploded View/Maintenance Parts List...

  • Page 231: Exploded View

    Exploded View/Maintenance Parts List GX8 Series Service Manual 5.1 Exploded View © Seiko Epson Corporation. 2024 Rev.6...
  • Page 232 Exploded View/Maintenance Parts List GX8 Series Service Manual ー093 © Seiko Epson Corporation. 2024 Rev.6...
  • Page 233 Exploded View/Maintenance Parts List GX8 Series Service Manual © Seiko Epson Corporation. 2024 Rev.6...

  • Page 234: Maintenance Parts List

    Joint #1 Control Board 2196966 3D gyroscope DC/DC Board has been changed to Sub-B board Sub-B Board 2224571 from GX4-B LED Board 2218781 Cable Unit 1876702 450 mm arm Cable Unit 1876703 550 mm arm © Seiko Epson Corporation. 2024 Rev.6...
  • Page 235 O-ring 1650901 For Joint #2 Reduction Gear O-ring 1510528 For Arm2 (In IP model, it is also used for Arm1) O-ring 1853034 For Joint #1 Motor Plate O-ring 1853033 For the base (IP model) © Seiko Epson Corporation. 2024 Rev.6...
  • Page 236 Coupling 1636148 For 6 dia. tube (White) Coupling 1636149 For 6 dia. tube (Blue) Coupling 1636146 For 4 dia. tube (White) Coupling 1636147 For 4 dia. tube (Blue) Coupling 1636150 For cleanroom model exhaust © Seiko Epson Corporation. 2024 Rev.6...
  • Page 237 RJ45 Connector Cap 2207224 For IP Coupling Cap 1156020 For 4 dia., IP Coupling Cap 1236746 For 6 dia., IP Coupling Cap 1156022 For 12 dia., IP 2212432 M/C Cable Connector (Robot Side) Harness・Connector © Seiko Epson Corporation. 2024 Rev.6...

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