Epson C12 Series Manipulator Manual page 277

Installation: Joint #6 motor
1. Install the motor plate to the Joint #6 motor.
Hexagon socket head cap bolts: 2-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Be careful of the assembly direction of the motor plate.
NOTE

(See the photo.)
2. Mount the Joint #6 electromagnetic brake to the Joint #6 motor
unit. Insert the spacers between the hexagon socket set screws
and the Joint #6 electromagnetic brake.
Hexagon socket set screws: 3-M3×15 (with a spacer)
Tightening torque: 2.0 ± 0.1 N·m
NOTE
Be careful of the assembly direction of the Joint #5

electromagnetic brake wiring. (See the photo.)
3. Mount the drive boss and the pulley 1 to the Joint #6 motor unit.
Fix the drive boss and the motor shaft.
There is an uneven part for the feeler gauge (0.5 mm) on the boss.
Use the uneven part to leave 0.5 mm space.
NOTE
If there is no space, the parts may chafe while the motor is

driving and it may result in breakage while the motor is moving.
Set the set screws to the positions indicated in the figure.
A: Pulley and motor shaft screws
B: Pulley and drive boss screws
C: Bushing
Drive boss
B
NOTE If the screw positions are incorrect or the bushing is not set, it

may cause damage on the side of the part and may result in the
part being unable to be removed.
C12 Rev.3
Pulley
A
A
C
Maintenance 10. Joint #6
Motor cable
position
Electromagnetic
brake wiring
Uneven part for a feeler
gauge (0.5 mm)
2 places, at 90° pitch
t = 0.5 mm
263