Epson G10 Series, Manipulator Manual, Page: 167 / 252

Maintenance 7. Arm #3
G10 / G20 Rev.20 155
7.1 Replacing Joint #3 Motor
Name Quantity Note
Maintenance
parts
AC Servo Motor (400W)
1
R13B000607
R13B000616
(For S/N: 1**** or later)
Tools
Hexagonal wrench
width across flats: 2 mm 1 For M4 set screw
width across flats: 3 mm 1 For M4 screw
width across flats: 4 mm 1 For M5 screw
Nippers 1 For cutting wire tie
Force gauge 1 Belt tension 130 N (13.3 kgf)
Suitable cord (Length about 800 mm) 1 For belt tension
Wiping cloth
1
For wiping grease
Material
Wire tie 1
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
Joint #3 motor
Removal
(1) Turn ON the Controller.
(2) Push down the shaft to its lower limit while pressing the brake release switch.
Be sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is being
pressed because the shaft may be lowered by the weight of an end effector.
(3) Turn OFF the Controller.
(4) Remove the arm top cover and the arm bottom cover.
For details, refer to Maintenance 3. Covers .
(5) Cut off the wire tie used for binding the motor cables to the Joint #3 motor.
(6) Disconnect the following connectors.
Connectors X231, X31 (Hold the claw to remove.)
Connector X63