Epson G6 series, Manipulator Manual, Page: 161 / 216

Maintenance 8. Arm #4
G6 Rev.21 149
8. Arm #4
WARNING
■
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors with
the power ON is extremely hazardous and may result in serious bodily injury as
the Manipulator may move abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing the
motors. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder. A disassembled motor and encoder
will cause a positional gap and cannot be used again.
After parts have been replaced (motors, reduction gear units, brakes, timing belts, ball
screw spline unit, 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, it is necessary to match these origins.
The process of aligning the two origins is called “Calibration”.
Refer to
Maintenance: 13. Calibration to perform the calibration.
Joint #4 motor
U1 belt
Joint #4 brake
U2 belt