Epson E2C Series Manipulator Manual page 184

Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
(8) Loosen the bolts securing the Joint #4
(9) Remove the Joint #4 counter shaft unit.
(10) Remove both the U2 and Z belts.
(11) Remove the screws for the ball screw
(12) Pull the ball screw spline unit out of Arm #2.
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motor unit.
If there is a wire tie securing cables to the
Joint #4 motor, cut off it.
To do so, unscrew the bolts securing the
Joint #4 counter shaft unit.
Move the Joint #4 motor unit to the shaft
side and remove the Joint #4 counter shaft
unit from the U1 and U2 belts.
To do so, unscrew the bolts from the spline
plate. Then, lift the spline plate and pull
the belts upward.
spline shaft from the bottom of Arm #2.
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
4-M4×12
+Washer,
Spring washer
Joint #4 counter
shaft unit
3-4×12
Z belt
+Washer (Small)
Spline plate
4-M4×10
Joint #4
motor unit
U2 belt
E2C Rev.6