Epson E2C Series, Manipulator Manual, Page: 168 / 208

Maintenance 8. Replacing the Timing Belts (U 1 Belt)
156 E2C Rev.6
8.4 Replacing the U 1 Belt
A brake is mounted on the motor of Joint #4 to prevent the shaft from moving down and
rotating due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the instructions below:
Removal
(1) Remove the arm top cover.
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover .
(2) Cut off the wire tie binding the duct plate,
motor, and cables together.
(3) Remove the duct plate.
Duct plate
3-M5
×
1 5
(4) Loosen the bolts securing the Joint #4
motor unit.
If there is a wire tie securing cables to the
Joint #4 motor, cut off it.
(5) Remove the Joint #4 counter shaft unit.
To do so, unscrew the bolts securing the
Joint #4 counter shaft unit.
Move the Joint #4 motor unit to the shaft
side and remove the Joint #4 counter shaft
unit from the U1 and U2 belts.
4-M4
×
1 2
+Washer,
Spring washer
Joint #4
motor unit
2-M4
×
1 2+Washer, Spring washer
M5
×
8 double-sems screw
Joint #4 counter
shaft unit
(6) Remove the U1 belt from the U1 pulley.
U2 belt
Joint #4 motor unit
U 1 belt
)
NOTE