Epson C Series, Maintenance Manual

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C12 Maintenance 5. Joint #1
C Series Maintenance Manual Rev.2 511
Removal: Joint #1 Reduction gear unit (M/C Cable Backward)
CAUTION
■
This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator. Be very careful when performing
maintenance.
■ Do not loosen the bolts while the Arm #2 is not tilted.
It may cause the belt come off and the Arm #2 falls down, and it is extremely
hazardous. Be sure to do the Removal steps (1) and (2) in
C12 Maintenance
6.1 Joint #2 - Replacing the Motor
before removing the motor.
■ When removing the Arm #1, 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. Removing the bolts without supporting the arm may result in the arm
falling, bodily injury, and/or malfunction of the robot system.
1. Remove the following parts.
Connector plate
Connector
Cable grounding plate
Brake power supply
For details, refer to C12 Maintenance 5.1.3 Joint #1 - Replacing the Timing Belt (M/C Cable Backward) ,
Removal steps (1) to (9).
2. Remove the ground terminals.
Cross recessed head screws with washer: 9-M4×8, 2-M3×6
3. Disconnect the following parts from the hole inside the base.
D-sub cable
Ground wire
RJ45 connector
F-sensor connector
4. Remove the Joint #1 motor unit.
For details, refer to C12 Maintenance 5.1.1 Joint #1 – Replacing the Motor Unit (M/C Cable Backward) ,
Removal steps (6) to (7).