Epson LS20, Manipulator Manual, Page: 111 / 176

Maintenance 6. Arm #2
LS20 Rev.4 99
Joint #2
Reduction
Gear Unit
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 Joint #4.
When the brake release switch is pressed, the respective brakes of the Joint #3 and Joint
#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 waveform generator from the Joint #2 motor.
Follow the removal steps in Maintenance: 6.1 Replacing Joint #2 Motor .
(5) Remove the Arm #2 by removing the
screws mounting the Arm #2 on the
reduction gear unit.
A: 16-M5 × 30
B: 8-M5 × 45+8-M5 plain washer
C: 4-M4 × 20+4-M4 plain washer
A
Arm #2
Reduction
Gear Unit
Arm #1
B
C
O-ring
(6) Remove the reduction gear unit from
the Arm #1 by removing the screws that
mounts the reduction gear unit on the
Arm #1.
There is an O-ring between the Arm #1
and the reduction gear unit. Be sure to
keep the O-ring.