Epson C12 Series Manipulator Manual page 239

Removal: Joint #4 Motor
1. Turn OFF the Controller power.
2. Remove the following covers.
Arm #3 cover
Arm #3 maintenance cover
Arm #2 side cover
For details, refer to Maintenance: 3. Covers.
3. Pull out the cables from the Arm #3 and disconnect the following
connectors.
Connector: X141, X041, BT4, BR041
(Hold the clip to remove.)
4. Remove the brake power supply.
Cross recessed head screws with captive washer: 2-M3×6
5. Remove the cable bracket.
Hexagon socket head cap bolts: 2-M4×10
6. Remove the Joint #4 motor unit from the Arm #3.
Hexagon socket head cap bolts: 2-M4×15
(with a small plain washer)
C12 Rev.3
Maintenance 8. Joint #4
225