Sm, Cm Type Manipulators - Epson E2C Series Manipulator Manual

(6) Install the base connector box.
(7) Perform the calibration of Joint #1.

5.3.2 SM, CM Type Manipulators

Removal
(1) Remove the base connector box.
(2) Disconnect the connectors X110 and X11.
(3) Remove the Joint #1 motor unit from the
NOTE
(4) Remove the waveform generator from the
(5) Remove the motor flange from the Joint #1
E2C Rev.6
For details on the installation method, refer to Maintenance: 3.4 Base Connector
Box.
For details on the calibration method, refer to Maintenance: 14. Calibration.
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 upward.
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)
3-M4×15
Motor flange
M4×6
Bushing
Motor flange
Waveform
generator
M4×6
111