Epson E2C Series Manipulator Manual page 158

Maintenance 7. Replacing the Brake
Removal
(1) Remove the arm top cover.
(2) Cut off the wire tie binding the duct plate,
(3) Remove the duct plate.
(4) Cut off the wire tie binding the motor cables to the Joint #3 motor.
(5) Disconnect the connectors X131, X31, and X32.
(6) Remove the Joint #3 motor unit from Arm
(7) Cut off the wire tie binding brake cables to the Joint #3 motor.
(8) Unscrew the setscrews from the pulley
146
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
motor, and cables together.
To disconnect the X131 connector, pull it out while pushing the projection next to the
connector.
#2.
To do so, unscrew the bolts from the Joint
#3 motor plate. Then, remove the Z belt
from the pulley and pull it out upward.
under the Joint #3 motor.
There is a brass bushing in one of the
setscrew holes. Be careful not to lose it.
Duct plate
3-M5×15
Z belt
Pulley
4-M4×12
+Washer,
Joint #3 motor unit
Spring washer
Motor plate
M4×8
Flat point
setscrew
Pulley
M4×8
Flat point
setscrew
Bushing
E2C Rev.6