Replacing The Joint #1 Motor; S, C Type Manipulators - Epson E2C Series Manipulator Manual

5.3 Replacing the Joint #1 Motor

The procedure for replacing the Joint #1 motor varies with the Manipulator used.

5.3.1 S, C Type Manipulators

Removal
(1) Remove the base connector box.
(2) Remove the maintenance plate.
(3) Disconnect the connectors X110 and X11.
(4) Remove the Joint #1 motor unit from the
NOTE
(5) Remove the waveform generator from the
(6) Remove the motor flange from the Joint #1
E2C Rev.6
For details on the removal method, refer to Maintenance: 3.4 Base Connector Box.
To disconnect the X110 connector, pull it
out while pushing the projection next to the
connector.
base.
To do so, unscrew the bolts from the Joint
#1 motor flange. Then, pull out the motor
straight and downward.
To unscrew bolts on the maintenance hole
side, insert a hexagonal wrench from the
maintenance hole.
Be careful not to lose the oil seal coated
with black rubber.
If the motor cannot be pulled out easily,
pull it out while moving Arm #1 slowly by
hand.
Joint #1 motor.
There is a brass bushing in one of the
setscrew holes. Be careful not to lose it.
motor.
Maintenance 5. Replacing the Motors (Joint #1)
2-M3×6
double-sems screw
Maintenance
plate
Maintenance hole
Motor flange
Bushing
M4×6
X11
X110
3-M4×10
Motor flange
Waveform generator
M4×6
109