Epson C12 Series Manipulator Manual page 267

Removal: Joints #5, #6 Reduction gear unit set
1. Turn OFF the Controller power.
2. Remove the Arm #4 side cover and Arm #3 cover.
For details, refer to Maintenance 3. Covers.
3. Remove the Joints #5 and #6 motors.
For details, refer to the Removal steps in Maintenance 9.1 Joint #5 - Replacing the Motor and Maintenance
10.1 Joint #6 - Replacing the Motor.
4. Remove the cables passing through the Arm #4 as shown in the
photo.
For details, refer to the Removal steps in Maintenance 4.1 Cable
Unit.
5. Remove the Joints #5, #6 reduction gear unit.
Remove the bolts fixing the Arm #4 extension flange, and remove
the Joints #5 and #6 reduction gear unit from the Arm #4 extension
part.
Hexagon socket head cap bolts: 4-M6×20
6. Remove the Arm #4 extension flange.
Hexagon socket head cap bolts: 12-M3×18
C12 Rev.3
Maintenance 9. Joint #5
253