Epson LS20, Manipulator Manual, Page: 128 / 176

Maintenance 8. Arm #4
116 LS20 Rev.4
8.1 Replacing Joint #4 Motor
Name Quantity Note
Maintenance
parts
AC Servo Motor (150 W) 1 1646520
Tools
Hexagonal wrench
width across flats: 1.5 mm 1 For M3 set screw
width across flats: 3 mm
1
For M4 screw
width across flats: 4 mm For M5 screw
Spanner width across flats: 7 mm 2 For M4 bolt, M4 nut
Cross-point screwdriver (#2) 1 For M4 screw
Torque wrench
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).
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Joint #4 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 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 Arm Top Cover.
For details, refer to Maintenance: 3.1 Arm Top Cover .
(5) Remove the clip band binding the cables.
At this point, do not cut off a wire tie that
binds the cables to the Duct Plate.
Clip Band
Duct Plate
(6) Disconnect the connectors: X241, X41, X42. (Hold the claw to remove.)

NOTE