Epson C12 Series Manipulator Manual page 275

Removal: Joint #6 Motor
1. Turn OFF the Controller power.
2. Remove the Arm #4 side cover.
For details, refer to Maintenance: 3. Covers.
3. Loosen the screws fixing the cable protection plate on the Arm #4
and pull out the cables.
Hexagon socket head cap bolts: 2-M4×10
4. Remove the brake power supply for the brake connected to the
connector (BR062) from the protection plate.
Cross recessed head screw with captive washer: 2-M3×6
5. Pull out the cables from the Arm #4 and disconnect the following
connectors.
Connectors: X062, X162, BT62, BR062
6. Loosen the bolts securing the Joint #6 motor unit and remove the
belts.
Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)
7. Remove the Joint #6 motor unit.
Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)
C12 Rev.3
Maintenance 10. Joint #6
261