Joint #6 - Replacing The Motor; Removal: Joint #6 Motor - Epson C Series Maintenance Manual

6-axis robots

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C4 Maintenance 10. Joint #6

10.1 Joint #6 - Replacing the Motor

AC servo motor 50 W

Cross-point screwdriver

The brake is mounted on the Joint #6 to prevent the arm from lowering due to its own weight while the Controller

power is OFF or the motor is OFF status. However, the brake does not work during replacement.

1. Turn OFF the Controller power.

2. Remove the Arm #4 side cover.

For details, refer to C4 Maintenance: 3. Covers.

3. Pull out the cables from the Arm #4 and disconnect the following

Connectors: X062, X162, BT62, BR062

4. Loosen the bolts securing the Joint #6 motor unit and remove the

Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)

5. Remove the Joint #6 motor unit.

Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)

width across flats: 1.5 mm

width across flats: 2 mm

width across flats: 3 mm

For the part code, refer to the 17. C4

Maintenance Part Code.

For M3 hexagon socket set screws

For M2.5 hexagon socket head cap bolts

For M4 hexagon socket head cap bolts

For belt tension adjustment

C Series Maintenance Manual Rev.2