Epson E2C Series Manipulator Manual page 133

(6) Remove the Joint #4 motor unit from Arm
(7) Remove the pulley from the Joint #4
(8) Remove the motor plate from the Joint #4
Installation
(1) Mount the motor plate on the Joint #4
(2) Mount the pulley on the Joint #4 motor.
(3) Place the Joint #4 motor unit back on Arm
E2C Rev.6
#2.
To do so, unscrew the bolts from the Joint
#4 motor plate. Then, remove the U1 belt
from the pulley and pull it out upward.
motor.
There is a brass bushing in one of the
setscrew holes. Be careful not to lose it.
motor.
motor.
Be sure to fit the end face of the motor
shaft to the end face of the pulley.
Tighten one of the setscrews on the flat
face of the motor shaft until the screw just
touches the surface. Insert a bushing into
the other setscrew hole to prevent damage
to the motor shaft.
Then, tighten both setscrews.
#2.
The Joint #4 motor cable must be located
on the left side when it faces toward the
end of Arm #2.
Maintenance 5. Replacing the Motors (Joint #4)
Motor plate
M4×6
Flat point
setscrew
M4×6
Flat point
Setscrew
(Flat side)
Flat
U1 belt
U1 pulley
4-M4×12
+Washer,
Spring
washer
Pulley
Bushing
M4×6
Flat point
setscrew
Motor plate
2-M4×8
Pulley
Bushing
M4×6
Flat point
Setscrew
(Round
chamfer
side)
Motor plate
2-M4×8
121