Download
Share
Print this page
Epson C4-B Service Manual
  1. Manuals
  2. Brands
  3. Epson Manuals
  4. Robotics
  5. C4-B
  6. Service manual

Epson C4-B Service Manual

6-axis robots
Hide thumbs

Advertisement

Quick Links

Download this manual
EPSON
6-Axis Robots
C4-B
Service Manual
Rev.1
ENSM237C0021
Disclosure Scope: Maintenance Trained Personnel Only

Advertisement

loading

Related Manuals for Epson C4-B

Summary of Contents for Epson C4-B

  • Page 1 EPSON 6-Axis Robots C4-B Service Manual Rev.1 ENSM237C0021 Disclosure Scope: Maintenance Trained Personnel Only...
  • Page 2  The company names and product names described in this service manual are the trademarks or registered trademarks of the respective company. EPSON is the registered trademark of Seiko Epson Corporation. Other product names are trademarks or registered trademarks of the respective company.
  • Page 3 C4-B Service Manual Disclosure Scope: Maintenance Trained Personnel Only Revision History If, even after the establishment and issue of the first edition of this manual, changes are made in the mechanism or parts of the product with the purpose of improving the performance and reliability, revised editions shall be issued as necessary. Always use this manual after ensuring that it is the latest version.

  • Page 4: Table Of Contents

    C4-B Service Manual Disclosure Scope: Maintenance Trained Personnel Only Table of Contents 2.4.3 Joint #3 Replacing the Brake ........... 2-94 Chapter 1 Maintenance Information 2.4.4 Joint #3 Replacing the Reduction Gear Unit ......2-97 2.5 Joint #4 ................2-113 1.1 Safety Maintenance ............... 1-1 2.5.1 Joint #4 Replacing the Timing Belt ........
  • Page 5 C4-B Service Manual Disclosure Scope: Maintenance Trained Personnel Only Chapter 5 Exploded View/Maintenance Parts List 2.11.1 Removing the LED Lamp ............. 2-298 2.11.2 Installing the LED Lamp ............2-300 5.1 Exploded View ..............5-1 2.12 Replacing the M/C Cable ..........2-301 5.2 Maintenance Parts List ............
  • Page 6 CHAPTER 1Maintenance Information...

  • Page 7: Safety Maintenance

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.1 Safety Maintenance Maintenance of robot system shall always be performed by personnel who has taken safety training. Personnel who has taken safety training refers to a person who has taken safety training for workers engaged in activities related to industrial robots as stipulated by the laws and regulations of each country (such as the knowledge on industrial robots, knowledge on operations and teaching, knowledge on activities concerning inspection, etc., and training on related laws).
  • Page 8 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only ⚫ Do not allow foreign objects to enter the inside of the manipulator or the connection terminals. Energizing the manipulator with foreign objects in it may cause electric shock or malfunction, which is extremely dangerous.

  • Page 9: General Maintenance

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2 General Maintenance Performing maintenance inspections properly is essential for preventing trouble and maintaining safety. This chapter describes the schedules for maintenance inspection and procedures. Be sure to perform the maintenance inspections in accordance with the schedule.

  • Page 10: Inspection Point

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.2 Inspection Point Inspection Item Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual      End effector mounting bolts Check looseness or backlash of ...
  • Page 11 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Inspection Point Inspection Method Check for bends or Check that the safeguard, etc. are located properly. improper location. Repair If the location is improper, place it properly. or place it properly if necessary.

  • Page 12: Overhaul (Parts Replacement)

    However, it may vary depending on usage condition and degree of the load (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator. For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the NOTE parts subject to maintenance (Motors, Reduction Gears, and Timing Belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
  • Page 13 Disclosure Scope: Maintenance Trained Personnel Only How to View the Maintenance Information The configured maintenance information can be checked in the EPSON RC+ 7.0 Ver.7.2.x or later. 1. Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller Tools] dialog box.
  • Page 14 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 3. Select “General” or specify the axis from the tree to display information of the target parts. Remaining months is calculated based on the past operation conditions. NOTE (C) Seiko Epson Corporation...
  • Page 15 When replaced the parts subject to maintenance (Motors, Reduction Gears, and Timing Belts), please edit the Maintenance Information. 1. Select the EPSON RC+ 7.0 menu- [Tools] - [Maintenance] to display the [Controller Tools] dialog box. 2. To edit the maintenance information, display the [Maintenance] dialog box.
  • Page 16 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 4. Select the alarm to be changed and click the <Change> button. 5. Display the [Change Alarm] dialog box and enter any of the followings. 6. Click the <OK> button and change the specified alarm information.
  • Page 17 3. Select the folder where the information is stored. 4. Click <OK> to view the [Controller Status Viewer] dialog. 5. Select [Robots] from the tree menu on the left side (Dialog image: EPSON RC+ 7.0) (C) Seiko Epson Corporation 1-11...

  • Page 18: Greasing

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.4 Greasing The reduction gear units and the bevel gear need greasing regularly. Only use the grease specified in the following table. ⚫ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source.
  • Page 19 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Joint #1, 2, 3, 4, 5, 6 reduction gear units As a rough indication, perform greasing at the same timing as overhaul. However, it may vary depending on ambient temperature, usage condition and degree of the load (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator.

  • Page 20: Tools/Materials

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.5 Tools/Materials Tools used Name Quantity Note width across flats: 1.5 mm For M3 hexagon socket head set screws width across flats: 2 mm For M2.5 silver and black hexagon socket head cap screws, and for M4 hexagon socket head set screws width across flats: 2.5 mm...
  • Page 21 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only Materials used Name Quantity Note Grease Proper quantity For details, refer to 1.2.4 Greasing. Alcohol For wiping grease from the J1/J2 Reduction Gear and the Ball Screw Proper quantity...

  • Page 22: Tightening Bolts/Screws

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.2.6 Tightening Bolts/Screws In the manual, bolts and screws that are removed or installed for maintenance are shown below. Unless otherwise specified, when re-tightening these bolts for maintenance tasks described in the manual, use a torque wrench and tighten them to the tightening torques noted in the table below.
  • Page 23 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only We recommend that the bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below. Bolt hole Do not fasten all bolts securely at one time. Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench.

  • Page 24: Parts Layout

    C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only 1.3 Parts Layout J4 Reduction Gear J5 Reduction Gear Unit J5 Timing Belt J4 Timing Belt J4 Motor unit Gyro Board 2 J3 Timing Belt J5 Motor unit J3 Motor unit...
  • Page 25 C4-B Service Manual Maintenance Information Disclosure Scope: Maintenance Trained Personnel Only J3 Reduction Gear J6 Motor unit J6 Reduction Gear J6 Timing Belt J2 Reduction Gear (C) Seiko Epson Corporation 1-19 Rev.1...
  • Page 26 CHAPTER 2Maintenance...

  • Page 27: Overview

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.1 Overview 2.1.1 Precautions for Maintenance • Perform disassembly and assembly according to the procedures described in the manual. • The parts for the Reduction Gear Unit are managed with serial numbers. Before installing parts, make sure the serial numbers of each match.

  • Page 28: Viewing The Maintenance Page

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.1.2 Viewing the Maintenance Page Each page is configured as shown below. Top page of each section The exploded view shows all parts and units that need to be removed and reinstalled in the section.
  • Page 29 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Body page for instructions Work sequence  The white circle numbers (e.g. ) are the step numbers for removing or disassembling the unit or component.  Black circle numbers (e.g.

  • Page 30: Joint #1

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2 Joint #1 2.2.1 Joint #1 Replacing the Timing Belt S01: 3-M4x20 S01: 2-M3x8 J1 Motor Unit Base Maintenance Cover Connector Plate Base Cover S01: 4-M4x8 S06: 4-M3x5 J1 Timing Belt (C) Seiko Epson Corporation Rev.1...
  • Page 31 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Remove the J1 Motor unit. Remove the Base Cover. Remove the J1 Timing Belt from pulley 2. POINT Perform the work after laying the Manipulator down on its side.
  • Page 32 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J1 Timing Belt on pulley 2. Timing Belt J1 Reduction Gear Unit Pulley 2 POINT Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 33 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 34: Joint #1 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.2 Joint #1 Replacing the Motor Unit S01: 2-M3x8 Base Maintenance Cover S01: 3-M4x20 J1 Motor Unit Connector Plate S05: 3-M3x8 J1 Timing Belt (C) Seiko Epson Corporation Rev.1...
  • Page 35 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the Connector Plate. Cut the wire tie binding the cables (CN111, CN200, CN201), and disconnect the J1 Motor Connectors (CN111, CN311, BR011). Wire tie Motor Connectors...
  • Page 36 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the J1 Motor unit. 1. Remove the Base Maintenance Cover. S01: 2-M3x8 Base Maintenance Cover (C) Seiko Epson Corporation 2-10 Rev.1...
  • Page 37 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit 2. Remove the screws securing the J1 Motor unit. S01: 3-M4x20 Installing the J1 Motor Unit POINT Insert the hexagonal wrench through the hole in the Base Maintenance Cover to perform the work for the screws shown in the figure.
  • Page 38 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Brake Hub Motor Pulley S05: 2-M5x10 J1 brake J1 Motor Unit Motor Plate S05: 1-M5x8 J1 Motor S01: 4-M5x15 (C) Seiko Epson Corporation 2-12 Rev.1...
  • Page 39 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J1 Motor unit. Motor Unit Disassembly Remove the Motor Pulley unit. POINT Remove the Motor Pulley and the Brake Hub together. 1. Loosen the two screws on the D-cut surface of the motor shaft when viewing the J1 Motor unit from above.
  • Page 40 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Remove the Motor Pulley unit from the motor shaft. Motor Unit Disassembly Motor Pulley Brake Hub Remove the J1 brake. S05: 1-M5x8 J1 brake (C) Seiko Epson Corporation 2-14...
  • Page 41 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Motor Plate. Motor Unit Disassembly S01: 4-M5x15 Motor Plate (C) Seiko Epson Corporation 2-15 Rev.1...
  • Page 42 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 4-M5x15 (8.0 +/- 0.4 N⋅m) Motor Plate POINT Attach the Motor Plate according to the orientation shown in the figure. Motor cable...
  • Page 43 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J1 electromagnetic brake on the J1 Motor unit. Motor Unit Assembly S05: 1-M5x8 (4.0 +/- 0.2 N⋅m) CAUTION • Be careful not to let the electromagnetic brake wiring get caught in or cut by the Motor Plate.
  • Page 44 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Motor Unit Assembly • Align the Brake Hub and brake disc positions, and install the Brake Hub on the motor shaft. If they are misaligned, adjust the brake disc position.
  • Page 45 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Secure the Motor Pulley unit to the motor shaft. Motor Unit Assembly Motor shaft S05: 2-M5x10 (4.0 +/- 0.2 N⋅m) Motor Pulley D-cut surface Brake Hub D-cut surface Brake Hub...
  • Page 46 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Motor Unit Assembly Leave a 0.5-mm gap between the Motor Pulley and the electromagnetic brake. Create a gap using a feeler gauge (0.5 mm). Motor Pulley Brake Hub CAUTION Failure to create a proper gap between the Motor Pulley and the brake may cause the parts to rub during motor operation, causing a malfunction.
  • Page 47 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Install the J1 Motor unit. 1. Check that the J1 Timing Belt is around pulley 2. J1 Reduction Gear Unit Pulley 2 J1 Timing Belt POINT Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 48 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Set the J1 Timing Belt around pulley 2, and secure the Motor Unit to the base Installing the Motor Unit temporarily. S01: 3-M4x20 POINT • Insert the hexagonal wrench through the hole in the Base Maintenance Cover to perform the work for the screw shown in the figure.
  • Page 49 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Installing the Motor Unit Correct Wrong Pulley Timing Belt CAUTION If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment.
  • Page 50 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J1 Motor Connectors (CN111, CN311, BR011). Installing the Motor Unit Motor Connectors (CN111, CN311, BR011) Bind the cables (CN111, CN200, CN201) using the wire tie (AB150). Wire tie...

  • Page 51: Joint #1 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.3 Joint #1 Replacing the Brake S01: 3-M4x20 J1 Motor Unit S05: 1-M5x8 S01: 2-M3x8 Base Maintenance Cover J1 Brake Brake Hub S05: 2-M5x10 Motor Pulley Connector Plate S01: 4-M4x8...
  • Page 52 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J1 Motor Unit Disassembly and remove the J1 brake. (C) Seiko Epson Corporation 2-26 Rev.1...
  • Page 53 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J1 Motor Unit Assembly and install the J1 brake. (C) Seiko Epson Corporation 2-27 Rev.1...

  • Page 54: Joint #1 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.2.4 Joint #1 Replacing the Reduction Gear Unit Connector Plate S01: 4-M4x8 S01: 3-M4x20 J1 Motor Unit Wave Generator Unit Flexspline J1 Timing Belt O-ring Circularspline Flange S01: 16-M4x20 Base Cover...
  • Page 55 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the J1 Timing Belt. Using a 2.5-mm T-wrench, loosen the pulley 2 set screws. Remove pulley 2. S05: 2-M5x10 Pulley 2 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 56 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the flange. Removing the Reduction Gear Unit S01: 4-M4x15 Flange POINT • If it is difficult to remove the flange, insert screws at the two locations as shown in the photograph, and tighten these screws evenly to remove.
  • Page 57 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit from the J1 Reduction Gear. Removing the Reduction Gear Unit Wave Generator unit Wave Generator unit POINT • The part has grease applied. Perform the work while wiping off the grease.
  • Page 58 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Circularspline from the base. Removing the Reduction Gear Unit S01: 16-M4x20 Circularspline Base POINT Insert screws at the two locations on the Circularspline as shown in the photograph, and tighten these screws evenly to remove.
  • Page 59 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the spacer and Flexspline from the base. Removing the Reduction Gear Unit S02: 8-M6x15 Flexspline Spacer Base If there is grease on the base, wipe it off with a cloth.
  • Page 60 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> 1. Take the new Reduction Gear Unit out of the box, and check that the following parts are included. 2. Apply grease around the entire gear surface of the Flexspline.
  • Page 61 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Apply grease around the entire gear surface of the Circularspline. Installing the Reduction Gear Unit SK-1A: Apply enough grease to fill the grooves Circularspline (C) Seiko Epson Corporation 2-35...
  • Page 62 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Flexspline on the shaft end face. Installing the Reduction Gear Unit Flexspline Install the spacer, and secure the Flexspline and spacer to the base. S02: 8-M6x15 Spacer (22.0 +/- 1.1 N·m)
  • Page 63 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Circularspline. Installing the Reduction Gear Unit S01: 16-M4x20 Circularspline (4.0 +/- 0.2 N⋅m) Apply grease to the inside of the Flexspline. SK-1A: 40 g Flexspline (C) Seiko Epson Corporation 2-37 Rev.1...
  • Page 64 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the bearing of the Wave Generator. Installing the Reduction Gear Unit SK-1A: Suitable amount Wave Generator Grease Install the Wave Generator unit on the Reduction Gear. Wave Generator unit...
  • Page 65 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the O-ring in the groove of the flange as shown in the figure. Installing the Reduction Gear Unit CAUTION • Be careful not to damage the O-ring when handling it.
  • Page 66 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install pulley 2. Installing the Reduction Gear Unit Installing the J1 Reduction Gear Unit S05: 2-M5x10 (4.0 +/- 0.2 N⋅m) Pulley 2 POINT • Align the shaft D-cut surface with the screw holes, and install pulley 2.

  • Page 67: Joint #2

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3 Joint #2 2.3.1 Joint #2 Replacing the Timing Belt Arm1 Center Cover S06: 3-M3x8 Arm2 J2 Timing Belt Arm1 Side Cover Arm1 S06: 4-M3x8 (C) Seiko Epson Corporation 2-41...
  • Page 68 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn ON the controller. Release the J2 brake, manually push and move Arm2, and push it against Arm1. At this time, place cushioning between Arm1 and Arm2 to prevent damage to them.
  • Page 69 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm1 Center Cover. Removing the Timing Belt Remove the Arm1 side cover. Loosen the screws securing the J2 Motor unit. S01: 3-M4x18 and washer J2 Motor unit Remove the J2 Timing Belt.
  • Page 70 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J2 Timing Belt. POINT • First place the belt on pulley 2. Pulley 2 Pulley 1 J2 Motor unit • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 71 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 72: Joint #2 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.2 Joint #2 Replacing the Motor Unit Arm1 Side Cover S06: 4-M3x8 S06: 3-M3x8 S03: 3-M3x15 J2 Motor Unit J2 Timing Belt Arm1 Side Cover Arm1 Center Cover Gyro Board 1...
  • Page 73 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn ON the controller. Release the J2 brake, manually push and move Arm2, and push it against Arm1. At this time, place cushioning or rags between Arm1 and Arm2 to prevent damage to them.
  • Page 74 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Disconnect the connectors (CN3, CN6), and remove gyro board 1 together with the Removing the Motor Unit protective plate. S03: 3-M3x15 Gyro board 1 Protective plate Disconnect the J2 Motor Connectors (CN121, CN321, BR021), and cut the wire tie securing CN121.
  • Page 75 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Pull out the CN121, BR021, and CN6 cables as shown in the figure. Removing the Motor Unit Cut the wire ties. Wire tie Wire tie Remove the loosened screws, then remove the J2 Motor unit.
  • Page 76 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Brake Hub Motor Pulley S05: 2-M5x10 J2 brake S05: 1-M5x8 Motor Plate J2 Motor Unit J2 Motor S01: 4-M5x15 (C) Seiko Epson Corporation 2-50 Rev.1...
  • Page 77 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J2 Motor unit. Motor Unit Disassembly Remove the Motor Pulley unit. POINT Remove the Motor Pulley and the Brake Hub together. 1. Loosen the two screws on the D-cut surface of the motor shaft when viewing the J2 Motor unit from above.
  • Page 78 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Remove the J2 brake. Motor Unit Disassembly S05: 1-M5x8 J2 brake Motor Plate 2. When replacing the brake, connect the connector (D) to the brake. Connector (D) Remove the Motor Plate.
  • Page 79 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 4-M5x15 （8.0 +/- 0.4N·m) Motor Plate POINT Attach the Motor Plate according to the orientation shown in the figure. Cutout Motor Plate...
  • Page 80 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Install the J2 brake. Motor Unit Assembly S05: 1-M5x8 (4.0 +/- 0.2 N⋅m) CAUTION • Be careful not to let the brake wiring get caught in or cut by the Motor Plate.
  • Page 81 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. When replacing the brake, connect the connector (D) to the brake. Motor Unit Assembly Connector (D) Install the Motor Pulley unit to the J2 Motor unit. 1. Insert the Motor Pulley so that the set screw position aligns with the motor shaft D-cut surface.
  • Page 82 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Secure the Motor Pulley unit to the motor shaft. Motor Unit Assembly S05: 2-M5x10 (4.0 +/- 0.2 N·m) Motor shaft D-cut surface Motor Pulley Brake Hub D-cut surface Place a feeler gauge (0.5 mm) between the Motor Pulley and the brake, to ensure a 0.5- mm gap during installation.
  • Page 83 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J2 Motor unit inside Arm2. CAUTION The Motor Unit has a Radiation Sheet attached. When inserting the Motor Unit, be careful not to tear the Radiation Sheet.
  • Page 84 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the cables using wire tie (AB100). Installing the Motor Unit POINT Bind each cable in the position as shown in the figure. Wire tie CN321 45 mm 20 mm 30 mm Bind CN121 to the holder with the wire tie (AB100).
  • Page 85 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the J2 Motor Connectors (CN121, CN321, BR021). Installing the Motor Unit CN121 CN321 BR021 Install gyro board 1, and connect the connectors (CN3, CN6). CAUTION Check the board markings and connector labels before connecting the connectors to ensure that the connectors are not inserted incorrectly.

  • Page 86: Joint #2 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.3 Joint #2 Replacing the Brake Arm1 Side Cover S06: 4-M3x8 Arm1 Side Cover S06: 4-M3x8 S06: 3-M3x8 S06: 3-M3x8 J2 Motor Unit S05: 1-M5x8 J2 Brake Motor Pulley Gyro Board 1...
  • Page 87 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J2 Motor Unit Disassembly and remove the J2 brake. (C) Seiko Epson Corporation 2-61 Rev.1...
  • Page 88 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J2 Motor Unit Assembly and install the J2 brake. (C) Seiko Epson Corporation 2-62 Rev.1...

  • Page 89: Joint #2 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.3.4 Joint #2 Replacing the Reduction Gear Unit S06: 4-M3x8 S01: 6-M4x12 Arm1 Side Cover Arm1 Plate Arm2 J2 Timing Belt S02: 12-M4x30 S02: 16-M4x30 O-ring Pulley 2 Reduction Gear...
  • Page 90 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit <Preparation> Prepare a work stand upon which to place the arm removed from the Manipulator. Guidelines for work stand Width x Depth: 1.0 x 0.5 m...
  • Page 91 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm1 side cover (both sides). Removing the Reduction Gear Unit Remove the J2 Timing Belt. Remove the Arm1 plate. S01: 6-M4x12 Arm1 plate (C) Seiko Epson Corporation 2-65...
  • Page 92 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove pulley 2. Removing the Reduction Gear Unit S05: 2-M5x10 (Brass bushing x 1) Pulley 2 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 93 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the bolts securing the Reduction Gear. Removing the Reduction Gear Unit Remove Arm2, lay it down on its side, and place it on the work stand. WARNING • Remove the bolts securing the Reduction Gear to remove the Arm1 side arm and Arms 2, 3, 4, 5, and 6 (end effector).
  • Page 94 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit from the Reduction Gear. Removing the Reduction Gear Unit Wave Generator unit Reduction Gear Unit POINT Turn the Reduction Gear Unit over. Remove the Wave Generator unit by tapping it lightly near the center axis with a plastic hammer.
  • Page 95 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the O-ring on Arm2. Removing the Reduction Gear Unit POINT The part has grease applied. Perform the work while wiping off the grease. O-ring If there is grease on Arm1 or Arm2, wipe it off with a cloth.
  • Page 96 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> Take the new Reduction Gear Unit out of the box, and check that the following parts are included. (C) Seiko Epson Corporation 2-70 Rev.1...
  • Page 97 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the O-ring. Installing the Reduction Gear Unit CAUTION • Applying a small amount of grease (SK-1A) to the O-ring will make it stick to the arm, facilitating subsequent work.
  • Page 98 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the inside of the Flexspline. Installing the Reduction Gear Unit SK-1A: 30 g Flexspline Check that there is a wave washer at the Arm2 bearing setting position.
  • Page 99 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the J2 Reduction Gear Unit to Arm2. Installing the Reduction Gear Unit S02: 12-M4x12 Longside Screw Shortside Wave Generator Tighten the screws using the following procedure. Refer to the figure above.
  • Page 100 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Tighten screws (3) and (4) to 20% of the torque value. Installing the Reduction Gear Unit 6. Tighten screws (3) and (4) to 40% of the torque value. 7. Rotate the Wave Generator longside and tighten screws (5) through (12) to the 20% and 40% of the torque value.
  • Page 101 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install Arm2 and the Reduction Gear on Arm1. Installing the Reduction Gear Unit WARNING Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling.
  • Page 102 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Reduction Gear Unit • Align the shaft end and pulley surface, and secure. • Align the shaft D-cut surface with the screw holes, and install pulley 2.

  • Page 103: Joint #3

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4 Joint #3 2.4.1 Joint #3 Replacing the Timing Belt J3 Timing Belt Arm2 Side Cover S06: 4-M3x8 (C) Seiko Epson Corporation 2-77 Rev.1...
  • Page 104 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn ON the controller. Release the J3 brake, and manually push and move Arm3 until it comes in contact with the mechanical stopper, and push it against Arm2.
  • Page 105 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws securing the J3 Motor unit. Removing the Timing Belt S01: 2-M4x15 and washer J3 Motor unit J3 Timing Belt Remove the J3 Timing Belt. CAUTION Removing the Timing Belt while Arm3 is not tilted will result in Arm3 falling, which is very dangerous.
  • Page 106 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J3 Timing Belt. POINT • First place the belt on pulley 2. Pulley 2 Pulley 1 • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 107 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 108: Joint #3 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.2 Joint #3 Replacing the Motor Unit S06: 4-M3x8 Arm2 Side Cover J3 Motor Unit Arm2 Side Cover S01: 2-M4x15 and washer S06: 4-M3x8 J3 Timing Belt (C) Seiko Epson Corporation 2-82 Rev.1...
  • Page 109 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the J3 Timing Belt. Remove the Arm2 side cover. Disconnect the J3 Motor unit connectors (CN131, CN331, CN430). CN430 CN131 CN331 (C) Seiko Epson Corporation 2-83 Rev.1...
  • Page 110 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the loosened screws, then remove the J3 Motor unit. Removing the Motor Unit S01: 2-M4x15 and washer J3 Motor unit CAUTION When pulling off the motor unit, the CN131-2 connector clip may catch on the arm and be damaged, or the CN131-1 cable may be pulled inside the arm.
  • Page 111 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Motor Pulley S05: 2-M4x6 Brake Hub S05: 2-M4x4 S01: 3-M3x13 J3 brake Motor Plate J3 Motor unit J3 Motor S01: 2-M4x12 (C) Seiko Epson Corporation 2-85 Rev.1...
  • Page 112 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J3 Motor unit. Motor Unit Disassembly Cut the wire tie (AB100) binding the motor cable. Wire tie (AB100) Remove the Motor Pulley. S05: 2-M4x6 Motor Pulley (Brass bushing x 1)
  • Page 113 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Brake Hub. Motor Unit Disassembly S05: 2-M4x4 Brake Hub Remove the J3 brake. S01: 3-M3x13 J3 brake Remove the Motor Plate. S01: 2-M4x12 Motor Plate (C) Seiko Epson Corporation 2-87 Rev.1...
  • Page 114 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x12 Motor Plate (4.0 +/- 0.2 N⋅m) POINT Attach the Motor Plate according to the orientation shown in the figure. Motor cable...
  • Page 115 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J3 brake. Motor Unit Assembly POINT • Install the brake with the orientation as shown in the figure. S01: 3-M3x13 J3 brake (2.0 +/- 0.1 N⋅m) Motor Plate Brake cable •...
  • Page 116 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub. Motor Unit Assembly S05: 2-M4x4 Brake Hub (2.4 +/- 0.1 N⋅m) POINT Install the two screws so that they are vertical with respect to the motor shaft D-cut surface.
  • Page 117 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Motor Pulley. Motor Unit Assembly Motor Pulley S05: 2-M4x6 (Brass bushing x 1) (2.4 +/- 0.1 N⋅m) Bushing POINT Attach the two screws as shown below. 1st screw: Make sure it vertically contacts the Brake Hub D-cut surface.
  • Page 118 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Bind CN131 and CN430 using the wire tie (AB100). Motor Unit Assembly POINT Bind each cable in the position as shown in the figure. CN131: Approx. 100 mm from the connector end CN430: Approx.
  • Page 119 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J3 Motor unit inside Arm3. J3 Motor unit Install the J3 Timing Belt.   Perform steps Connect the J3 Motor Connectors (CN131, CN331, CN430).

  • Page 120: Joint #3 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.3 Joint #3 Replacing the Brake S06: 4-M3x8 Arm2 Side Cover Arm2 Side Cover S06: 4-M3x8 J3 Motor Unit J3 Brake S01: 3-M3x13 Brake Hub S05: 2-M4x6 S01: 2-M4x15 and washer...
  • Page 121 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J3 Motor Unit Disassembly and remove the J3 brake. (C) Seiko Epson Corporation 2-95 Rev.1...
  • Page 122 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J3 Motor Unit Assembly and install the J3 brake. (C) Seiko Epson Corporation 2-96 Rev.1...

  • Page 123: Joint #3 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.4.4 Joint #3 Replacing the Reduction Gear Unit Arm2 Side Cover S06: 4-M3x8 S02: 5-M4x12 Arm2 Side Cover Arm2 Plate S06: 4-M3x8 Arm3 Head Cover S06: 4-M3x8 S02: 16-M3x20 S05: 2-M4x8...
  • Page 124 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit <Preparation> Prepare a work stand upon which to place the arm removed from the Manipulator. Guidelines for work stand Width x Depth: 1.0 x 0.5 m...
  • Page 125 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Arm2 plate. Removing the Reduction Gear Unit S02: 5-M4x12 Arm2 plate Remove the J3 pulley 2. S05: 2-M4x8 J3 pulley 2 CAUTION A brass bushing is included on one of the set screws. When removing the pulley, be careful not to drop and lose the bushing.
  • Page 126 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the bolts securing the Reduction Gear. Removing the Reduction Gear Unit Remove Arm3, lay it down on its side, and place it on the work stand. WARNING Remove the bolts securing the Reduction Gear to remove the Arm2 side arm and Arms 3, 4, 5, and 6 (end effector).
  • Page 127 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Reduction Gear Unit with the Wave Generator unit built in. Removing the Reduction Gear Unit POINT The part has grease applied. Perform the work while wiping off the grease.
  • Page 128 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit from the Reduction Gear. Removing the Reduction Gear Unit Wave Generator unit Reduction Gear Unit POINT Turn the Reduction Gear Unit over. Remove the Wave Generator unit by tapping it lightly near the center axis with a plastic hammer.
  • Page 129 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the wave washer in the Arm2 hole. Removing the Reduction Gear Unit POINT The wave washer will be used again. Store it so that you do not lose it.
  • Page 130 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> Take the new Reduction Gear Unit out of the box, and check that the following parts are included. (C) Seiko Epson Corporation 2-104 Rev.1...
  • Page 131 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the O-ring. Installing the Reduction Gear Unit CAUTION • Applying a small amount of grease (SK-1A) to the O-ring will make it stick to the arm, facilitating subsequent work.
  • Page 132 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Set the Reduction Gear Unit on Arm3, then secure the fixing bolts temporarily. Installing the Reduction Gear Unit S02: 12-M3x26 Reduction Gear POINT The Arm3 Reduction Gear installation surface has clearance holes for the screws on the Reduction Gear rear surface.
  • Page 133 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the inside of the Flexspline. Installing the Reduction Gear Unit SK-1A: 20 g Flexspline Insert a wave washer in the Arm3 bearing setting position. Wave washer Install the Wave Generator unit.
  • Page 134 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the J3 Reduction Gear Unit to Arm3. Installing the Reduction Gear Unit S02: 12-M3x26 Longside Screw Shortside Wave Generator Tighten the screws using the following procedure. Refer to the figure above.
  • Page 135 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Tighten screws (3) and (4) to 40% of the torque value. Installing the Reduction Gear Unit 7. Rotate the Wave Generator longside and tighten screws (5) through (12) to the 20% and 40% of the torque value.
  • Page 136 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure Arm3 and the Reduction Gear to Arm2. Installing the Reduction Gear Unit WARNING Have at least two workers perform this work. At least one worker must support the Manipulator to prevent its arm from falling. Pay special attention to damage resulting from the Manipulator falling or hands or feet being caught in the Manipulator.
  • Page 137 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J2 pulley 3. Installing the Reduction Gear Unit S05: 2-M4x8 (Brass bushing x 1) (2.4 +/- 0.1 N⋅m) J3 pulley 2 Shaft POINT Align the shaft D-cut surface with the screw hole, and install pulley 2.
  • Page 138 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Arm2 plate. Installing the Reduction Gear Unit S02: 5-M4x12 (5.0 +/- 0.25 N⋅m) Arm2 plate Install the J3 timing belt. Install the Arm2 side cover (both sides). After assembly, perform calibration of Joint #3.

  • Page 139: Joint #4

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5 Joint #4 2.5.1 Joint #4 Replacing the Timing Belt Arm4 Side Cover (right) Arm2 Side Cover J6 Timing Belt S06: 6-M3x8 J6 Motor Unit S06: 4-M3x8 J5 Motor Unit...
  • Page 140 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Remove the J4 Motor unit. Perform the Cable Unit removal procedure up to removing the four tubes and the Ground Wire toward Arm3. Removing the Cable Unit Remove the J4 Timing Belt.
  • Page 141 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Attach the J4 Timing Belt to the J4 output pulley. J4 output pulley J4 Timing Belt CAUTION Attach the J4 Timing Belt at the position shown in the figure.
  • Page 142 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Timing Belt Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Pulley Timing Belt CAUTION If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment.

  • Page 143: Joint #4 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.2 Joint #4 Replacing the Motor Unit Arm2 Side Cover Gyro Board 2 fixing plate S06: 4-M3x8 Arm3 Head Cover S01: 1-M4x10 S02: 2-M4x6 with washer S06: 4-M3x8 S01: 1-M3x8...
  • Page 144 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn OFF the Controller. Remove the Arm3 head cover. Remove the Arm2 side cover. The cables are fixed with a wire tie to the plate with the M4 sticker.
  • Page 145 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Ground Wires (PE9, PE10) from the gyro board 2 fixing plate. Removing the Motor Unit S02: 2-M4x6 with washer PE10 Gyro board 2 fixing plate Disconnect the gyro board 2 connector (CN3) from the board.
  • Page 146 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the gyro board 2 fixing plate from Arm3. Removing the Motor Unit S01: 1-M4x10 S01: 1-M3x8 Gyro board 2 fixing plate Arm3 Disconnect the J4 Motor Connectors (CN141, CN341, BR041).
  • Page 147 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the screws securing the J4 Motor unit, and remove the J4 Motor unit from Arm3. Removing the Motor Unit S01: 2-M4x15 Arm3 J4 Motor unit (C) Seiko Epson Corporation 2-121 Rev.1...
  • Page 148 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Motor Pulley Brake Hub S05: 2-M3x8 S01: 3-M2.5x10 J4 brake J4 Motor unit Motor Plate J4 Motor Brake power supply S01: 2-M4x12 (C) Seiko Epson Corporation 2-122...
  • Page 149 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 Motor unit. Motor Unit Disassembly Cut the wire ties bundling the cables on the Motor Unit. Motor unit Wire ties Remove the Motor Pulley and the Brake Hub.
  • Page 150 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Motor Unit Disassembly It may not be possible to remove the Brake Hub and Motor Pulley simply by loosening screws (A). In this case, also loosen screws (B). Motor Pulley...
  • Page 151 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 brake. Motor Unit Disassembly S01: 3-M2.5x10 J4 brake Remove the Motor Plate from the J4 Motor. S01: 2-M4x12 Motor Plate J4 Motor (C) Seiko Epson Corporation 2-125...
  • Page 152 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x12 (4.0 +/- 0.2 N⋅m) Motor Plate J4 Motor POINT Attach the Motor Plate according to the orientation shown in the figure.
  • Page 153 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J4 electromagnetic brake. Motor Unit Assembly POINT Install the brake in the orientation shown in the figure. S01: 3-M2.5x10 (1.0 +/- 0.1 N⋅m) Brake cable J4 electromagnetic brake...
  • Page 154 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Motor Unit Assembly • Align the Brake Hub and brake disc positions, and install the Brake Hub on the motor shaft. If they are misaligned, adjust the brake disc position.
  • Page 155 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Place a feeler gauge (0.5 mm) between the Motor Pulley and the brake, to ensure a Motor Unit Assembly 0.5-mm gap during installation. Motor Pulley Brake CAUTION Failure to create a proper gap between the Motor Pulley and the brake may cause the parts to rub during motor operation, causing a malfunction.
  • Page 156 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Determine the position of the wire tie (2) (AB200) according to the distance from the tip Motor Unit Assembly of each cable connector. • CN341-2: 150 mm • CN141-2: 110 mm •...
  • Page 157 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Check that the J4 Timing Belt is correctly engaged with the pulley on the J4 Reduction Gear. Pulley J4 Timing Belt Correct Wrong With the timing belt engaged with the Motor Pulley, insert the J4 Motor unit into Arm3.
  • Page 158 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Motor Unit Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Pulley Timing Belt CAUTION If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment.
  • Page 159 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Temporarily secure the J4 Motor unit. Installing the Motor Unit S01: 2-M4x15 Arm3 J4 Motor unit Adjust the belt tension. 3.1 Adjusting the Timing Belt Tension Connect the J4 Motor Connectors (CN141, CN341, BR041).
  • Page 160 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the gyro board 2 fixing plate on Arm3. Installing the Motor Unit S01: 1-M4x10 (4.0 +/- 0.2 N·m) S01: 1-M3x8 (2.0 +/- 0.1 N·m) Gyro board 2 fixing plate Arm3 Connect the gyro board 2 connector (CN3) to the board.
  • Page 161 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Attach the Ground Wires (PE9/PE10) to the gyro board 2 fixing plate. Installing the Motor Unit S02: 2-M4x6 with washer (0.9 +/- 0.1 N⋅m) PE10 Gyro board 2 fixing plate...
  • Page 162 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Fix the following cables with a wire tie (AB100) to the plate marked with the M4 sticker. Installing the Motor Unit Bundled cables: BR041, BR042, BR042, LED, CN141-2, CN341-2 Plate...

  • Page 163: Joint #4 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.3 Joint #4 Replacing the Brake Arm2 Side Cover S06: 4-M3x8 Gyro Board 2 fixing plate Arm3 Head Cover Timing Belt S06: 4-M3x8 S01: 1-M4x10 S01: 1-M3x8 Pulley 1 S05: 2-M3x8 J4 Brake S01: 3-M2.5x10...
  • Page 164 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J4 Motor Unit Disassembly and remove the J4 brake. (C) Seiko Epson Corporation 2-138 Rev.1...
  • Page 165 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J4 Motor Unit Assembly and install the J4 brake. (C) Seiko Epson Corporation 2-139 Rev.1...

  • Page 166: Joint #4 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.5.4 Joint #4 Replacing the Reduction Gear Unit Arm4 Side Cover (right) Arm2 Side Cover J6 Timing Belt S06: 4-M3x8 J6 Motor Unit Arm3 cable fixing plate S06: 6-M3x8 S01: 2-M4x15...
  • Page 167 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the J4 Motor unit. Remove the J5 Motor unit. Remove the J6 Motor unit. Remove the cable unit. POINT  Perform step (removing the cables, connectors, and Motor Unit from Arm4) through 7 of ...
  • Page 168 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Loosen the screws restraining the bearing. Removing the Reduction Gear Unit CAUTION Do not fully remove the screws. S01: 3-M3x6 with captive spring washer and washer As shown in the figure, use a hexagonal wrench to loosen the fixing screws of the J4 output pulley.
  • Page 169 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 output pulley and bearing. Removing the Reduction Gear Unit POINT • To make it easier to remove the screws, rotate Arm4 slightly to the left and right while pulling on the screw heads with pliers.
  • Page 170 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J4 Reduction Gear flange. Removing the Reduction Gear Unit S01: 3-M3x8 J4 Reduction Gear flange POINT • The part has grease applied. Perform the work while wiping off the grease.
  • Page 171 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Use tweezers to remove the metal seal. Removing the Reduction Gear Unit Metal seal Remove the Circularspline. S02: 12-M3x10 Circularspline (C) Seiko Epson Corporation 2-145 Rev.1...
  • Page 172 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Removing the Reduction Gear Unit • Insert screws into the tapped removal holes in the Circularspline and tighten the screws evenly to remove it. • The part has grease applied. Perform the work while wiping off the grease.
  • Page 173 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Flexspline. Removing the Reduction Gear Unit S02: 12-M3x10 Flexspline POINT • When the screws are loosened, the Flexspline can rotate and is difficult to remove. Therefore, work with two people and hold Arm4 as shown in the figure.
  • Page 174 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> 1. Remove the new Reduction Gear Unit from its box and confirm that it contains the following parts. 2. Apply grease around the entire gear surface of the Circularspline.
  • Page 175 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Apply grease to the inside of the Flexspline. Installing the Reduction Gear Unit SK-1A: 10 g Flexspline 5. Apply grease to the bearing of the Wave Generator. SK-1A: Suitable amount...
  • Page 176 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the O-ring in Arm4. Installing the Reduction Gear Unit Arm4 O-ring Install the Circularspline into Arm4. POINT • Face the surface of the Circularspline with the engraved section toward you.
  • Page 177 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Flexspline. Installing the Reduction Gear Unit S01: 12-M3x10 Flexspline (2.4 +/- 0.1 N⋅m) Install the bearing in the Wave Generator and then install the Flexspline. Flexspline Bearing Wave Generator POINT The bearing can be installed in either direction (front and back).
  • Page 178 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the metal seal. Installing the Reduction Gear Unit Metal seal POINT Align the M3 female threads in the housing with the hole positions in the metal seal and install the metal seal.
  • Page 179 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Attach the bearings to the J4 Reduction Gear flange and insert it into the cylinder of the Installing the Reduction Gear Unit Circularspline. S01: 3-M3x8 (2.4 +/- 0.1 N⋅m) Bearings POINT •...
  • Page 180 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J4 output pulley and bearing unit. Installing the Reduction Gear Unit S05: 2-M3x8 (Brass bushing x 2) (0.9 +/- 0.1 N⋅m) J4 output pulley Hexagonal wrench Tighten the bearing fixing screws.
  • Page 181 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Attach the J4 Timing Belt to the J4 output pulley. Installing the Reduction Gear Unit J4 output pulley Timing Belt CAUTION Attach the J4 Timing Belt at the position shown in the figure.
  • Page 182 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Reduction Gear Unit Make sure that the teeth of the Timing Belt and the pulley are properly engaged. Pulley Timing Belt CAUTION If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment.
  • Page 183 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J4 tube. Installing the Reduction Gear Unit J4 tube Install the lamp. Install the Cable Unit. POINT  Perform step Install the J4 Motor unit. Install the J5 Motor unit.

  • Page 184: Joint #5

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6 Joint #5 2.6.1 Joint #5 Replacing the Timing Belt Timing Belt Arm4 Side Cover (left) S06: 6-M3x8 (C) Seiko Epson Corporation 2-158 Rev.1...
  • Page 185 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Remove the Arm4 side cover (left). Loosen the screws securing the J5 Motor unit. S01: 2-M4x15 and washer J5 Motor unit Remove the J5 Timing Belt.
  • Page 186 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J5 Timing Belt. • First place the belt on pulley 1. Pulley 2 Pulley 1 J5 Timing Belt • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 187 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 188: Joint #5 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.2 Joint #5 Replacing the Motor Unit Arm4 Side Cover (right) S06: 6-M3x8 J5 Motor Unit Arm4 Side Cover (left) S01: 2-M4x15 and washer S06: 6-M3x8 J5 Timing Belt (C) Seiko Epson Corporation 2-162 Rev.1...
  • Page 189 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Remove the J5 Timing Belt. Cut the wire ties (AB100) binding the motor cables. Wire tie (AB100) Wire tie (AB100) Disconnect the J5 Motor Connectors (CN151, CN351, BR053).
  • Page 190 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the loosened screws, then remove the J5 Motor unit from Arm4. Removing the Motor Unit CAUTION Remove while checking that the removed connectors are not catching on other cables.
  • Page 191 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Pulley 1 S05: 2-M3x8 S01: 3-M2.5x10 J5 brake Motor Plate J5 Motor unit J5 Motor S01: 2-M4x12 (C) Seiko Epson Corporation 2-165 Rev.1...
  • Page 192 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J5 Motor unit. Motor Unit Disassembly Remove the Motor Pulley and the Brake Hub. For securing the pulley and shaft S05: 2-M3x8 For securing the pulley and Brake Hub...
  • Page 193 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Cut the wire tie binding the cables. Motor Unit Disassembly Wire tie Remove the J5 brake. S01: 3-M2.5x10 J5 brake Remove the Motor Plate from the J5 Motor. S01: 2-M4x12...
  • Page 194 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x12 Motor Plate (4.0 +/- 0.2 N⋅m) POINT Attach the Motor Plate according to the orientation shown in the figure. Motor cable position Motor Plate Install the J5 electromagnetic brake.
  • Page 195 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Bind the Motor Power cable and brake cable using the wire tie (AB100). Motor Unit Assembly Binding position CN351: Approx. 140 mm from the connector end CN151: Approx. 160 mm from the connector end...
  • Page 196 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub and Motor Pulley on the J5 Motor unit. Motor Unit Assembly For securing the pulley and shaft S05: 2-M3x8 (0.9 +/- 0.1 N·m) Motor Pulley Brake Hub...
  • Page 197 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Align the motor shaft D-cut surface with the screw holes, and install the Motor Pulley. Motor Unit Assembly Motor Pulley Brake Hub D-cut surface D-cut surface • Place a feeler gauge (0.5 mm) between the Motor Pulley and the brake, to ensure a 0.5-mm gap during installation.
  • Page 198 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J5 Motor unit into Arm4, and temporarily secure the Motor Unit. S01: 2-M4x15 and washer J5 Motor unit Install the J5 Timing Belt. POINT ...
  • Page 199 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Bind the following cables using wire ties (AB100). Installing the Motor Unit • CN151 and CN161 Wire tie position CN151: Approx. 90 mm from the connector end CN161: Approx. 120 mm from the connector end •...

  • Page 200: Joint #5 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.3 Joint #5 Replacing the Brake J5 Motor Unit S01: 2-M4x15 and washer J5 Brake S01: 3-M2.5x10 Arm4 Side Cover (left) S05: 2-M3x8 S06: 6-M3x8 J5 Timing Belt Pulley 1...
  • Page 201 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J5 Motor Unit Disassembly and remove the J5 brake. (C) Seiko Epson Corporation 2-175 Rev.1...
  • Page 202 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J5 Motor Unit Assembly and install the J5 brake. (C) Seiko Epson Corporation 2-176 Rev.1...

  • Page 203: Replacing The Joint 5,6 Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.4 Replacing the Joint 5,6 Reduction Gear Unit S01: 4-M3x6 J6 Pulley 2 Bearing retainer plate Arm4 Plate S01: 4-M4×10 Gear Unit J5 Pulley 2 J6 Timing Belt J5 Timing Belt...
  • Page 204 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Joint 5,6 Reduction Gear Unit Remove the J5 Timing Belt. Remove the J6 Timing Belt. Remove the J5 pulley 2. 1. Using a 1.5-mm hexagonal wrench, loosen the two screws securing the J5 pulley 2.
  • Page 205 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J6 pulley 2. Removing the Joint 5,6 Reduction Gear Unit 1. Using a 1.5-mm hexagonal wrench, loosen the two screws securing the J6 pulley 2. 2. Remove the J5 pulley 2.
  • Page 206 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove all shim rings in front of the bearing. Removing the Joint 5,6 Reduction Gear Unit POINT • Thickness and number of shim rings used will differ depending on the device. Make a note of their condition when they are removed.
  • Page 207 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the shim rings on the Reduction Gear side of the gear unit. Removing the Joint 5,6 Reduction Gear Unit POINT • Thickness and number of shim rings used will differ depending on the device. Make a note of their condition when they are removed.
  • Page 208 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the O-ring in the position in the figure. Removing the Joint 5,6 Reduction Gear Unit O-ring Remove the screws securing the J5 Reduction Gear, and remove the Joint 5,6 reduction gear unit.
  • Page 209 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Joint 5,6 Reduction Gear Unit Install the O-ring (included with the J5 Reduction Gear) on Arm4. O-ring Install the Joint 5,6 Reduction Gear Unit on Arm4. 1. Insert the key in the groove as shown in the figure, and align the Joint 5,6 Reduction Gear Unit with the Arm4 position.
  • Page 210 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Secure the Joint 5,6 reduction gear unit to Arm4. Installing the Joint 5,6 Reduction Gear Unit S01: 6-M3x15 (2.4 +/- 0.1 N⋅m) Joint 5,6 reduction gear unit Install the Arm4 plate.
  • Page 211 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the shim rings in the position in the figure. Installing the Joint 5,6 Reduction Gear Unit CAUTION Install the same number of shim rings of the same thickness as when removed.
  • Page 212 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J2 pulley 6. Installing the Joint 5,6 Reduction Gear Unit S05: 2-M3x5 (Brass bushing x 1) (0.9 +/- 0.1 N⋅m) J6 pulley 2 POINT Align the shaft D-cut surface with the screw hole, and install pulley 2.
  • Page 213 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J2 pulley 5. Installing the Joint 5,6 Reduction Gear Unit S05: 2-M3x5 (Brass bushing x 1) (0.9 +/- 0.1 N⋅m) J5 pulley 2 POINT Align the shaft D-cut surface with the screw hole, and install pulley 2.

  • Page 214: Joint #5 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.6.5 Joint #5 Replacing the Reduction Gear Unit J5, 6 Reduction Gear Unit O-ring S01: 8-M3x8 S01: 3-M2x10 Circularspline Washer Flexspline J5 Reduction Gear Wave Generator (C) Seiko Epson Corporation 2-188 Rev.1...
  • Page 215 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the Joint 5,6 reduction gear unit. Remove the Wave Generator unit from the Reduction Gear. Wave Generator unit CAUTION Removing the Wave Generator unit will at the same time remove the shaft end bearing.
  • Page 216 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator from the shaft. Removing the Reduction Gear Unit POINT • Using the Wave Generator width across flats (7 mm), remove the nut and washer from the Wave Generator.
  • Page 217 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Flexspline fixing screws, and remove the Flexspline. Removing the Reduction Gear Unit POINT The part has grease applied. Perform the work while wiping off the grease. S01: 8-M3x8 Flexspline Remove the O-ring from the Joint 5,6 reduction gear unit.
  • Page 218 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> 1. Take the new Reduction Gear Unit out of the box, and check that the following parts are included. Flexspline Circularspline Wave Generator 2. Apply grease around the entire gear surface of the Circularspline.
  • Page 219 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the shaft end bearing removed from the Wave Generator on Arm5. Installing the Reduction Gear Unit Bearing Install the O-ring (included with the J5 Reduction Gear) on the housing.
  • Page 220 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Circularspline. Installing the Reduction Gear Unit POINT • Face the surface of the Circularspline with the engraved section toward you. • Install the Circularspline by aligning the M2 female threads of the housing with the counterbored hole positions on the Circularspline.
  • Page 221 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Wave Generator on the J5 shaft unit. Installing the Reduction Gear Unit 1. Insert the Wave Generator into the shaft. POINT Insert so that the central, not-hollowed-out part is on the bearing side.
  • Page 222 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the bearing of the Wave Generator. Installing the Reduction Gear Unit SK-2: Apply enough grease to fill the ball gap Align the axial direction of the Wave Generator and the Flexspline, and insert the Wave Generator unit.

  • Page 223: Joint #6

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7 Joint #6 2.7.1 Joint #6 Replacing the Timing Belt J6 Timing Belt Arm4 Side Cover (right) S06: 6-M3x8 (C) Seiko Epson Corporation 2-197 Rev.1...
  • Page 224 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Timing Belt Turn OFF the Controller. Remove the Arm4 side cover (right). Loosen the screws securing the J6 Motor unit. S01: 2-M4x15 and washer J6 Motor unit Remove the J6 Timing Belt.
  • Page 225 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Timing Belt Install the J6 Timing Belt. POINT • First place the belt on pulley 1. Pulley 1 J6 Timing Belt Pulley 2 • Make sure that the teeth of the Timing Belt and the pulley are properly engaged.
  • Page 226 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only CAUTION Installing the Timing Belt If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level...

  • Page 227: Joint #6 Replacing The Motor Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.2 Joint #6 Replacing the Motor Unit S06: 6-M3x8 Arm4 Side Cover (left) Arm4 Side Cover (right) S06: 6-M3x8 J6 Motor Unit S01: 2-M4x15 and washer J6 Timing Belt (C) Seiko Epson Corporation 2-201 Rev.1...
  • Page 228 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Motor Unit Turn OFF the Controller. Remove the J6 Timing Belt. Cut the wire ties (AB100) binding the motor cables. Wire tie (AB100) Wire tie (AB100) Disconnect the J6 Motor Connectors (CN161, CN361, BR063).
  • Page 229 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the loosened screws, then remove the J6 Motor unit from Arm4. Removing the Motor Unit CAUTION Remove while checking that the removed connectors are not catching on other cables.
  • Page 230 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Disassembly Pulley 1 S05: 2-M3x8 S01: 3-M2.5x10 J6 brake Motor Plate J6 Motor unit J6 Motor S01: 2-M4x12 (C) Seiko Epson Corporation 2-204 Rev.1...
  • Page 231 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the J6 Motor unit. Motor Unit Disassembly Remove the Motor Pulley and the Brake Hub. For securing the pulley and shaft S05: 2-M3x8 For securing the pulley and Brake Hub...
  • Page 232 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Cut the wire tie binding the cables. Motor Unit Disassembly Wire tie Remove the J6 brake. S01: 3-M2.5x10 J6 brake Remove the Motor Plate from the J6 Motor. S01: 2-M4x12...
  • Page 233 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Motor Unit Assembly Install the Motor Plate. S01: 2-M4x12 Motor Plate (4.0 +/- 0.2 N⋅m) POINT Attach the Motor Plate according to the orientation shown in the figure. Motor cable position Motor Plate Install the J6 electromagnetic brake.
  • Page 234 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Bind the Motor Power cable and brake cable using the wire tie (AB100). Motor Unit Assembly Binding position CN361: Approx. 140 mm from the connector end CN161: Approx. 160 mm from the connector end...
  • Page 235 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the Brake Hub and Motor Pulley on the J5 Motor unit. Motor Unit Assembly Motor Unit Assembly For securing the pulley and shaft S05: 2-M3x8 (0.9 +/- 0.1 N·m)
  • Page 236 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Align the motor shaft D-cut surface with the screw holes, and install the Motor Pulley. Motor Unit Assembly Motor Pulley Brake Hub D-cut surface D-cut surface • Place a feeler gauge (0.5 mm) between the Motor Pulley and the brake, to ensure a 0.5-mm gap during installation.
  • Page 237 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Motor Unit Insert the J6 Motor unit into Arm4, and temporarily secure the Motor Unit. S01: 2-M4x15 and washer (4.0 +/- 0.2 N⋅m) J6 Motor unit Install the J6 Timing Belt.
  • Page 238 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Bind the following cables using wire ties (AB100). Installing the Motor Unit • CN151 and CN161 Wire tie position CN151: Approx. 90 mm from the connector end CN161: Approx. 120 mm from the connector end •...

  • Page 239: Joint #6 Replacing The Brake

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.3 Joint #6 Replacing the Brake Arm4 Side Cover (left) S06: 6-M3x8 Arm4 Side Cover (right) S06: 6-M3x8 J6 Brake Pulley 1 J6 Motor Unit S01: 2-M4x15 and washer S01: 3-M2.5x10...
  • Page 240 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Brake Refer to J6 Motor Unit Disassembly and remove the J6 brake. (C) Seiko Epson Corporation 2-214 Rev.1...
  • Page 241 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Brake Refer to J6 Motor Unit Assembly and install the J6 brake. (C) Seiko Epson Corporation 2-215 Rev.1...

  • Page 242: Joint #6 Replacing The Reduction Gear Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.7.4 Joint #6 Replacing the Reduction Gear Unit Plug Bevel Gear S01: 1-M38 and washer Wave Generator O-ring S02: 6-M3x28 J6 Reduction Gear Unit S02: 7-M3x6 J6 End Flange (C) Seiko Epson Corporation 2-216 Rev.1...
  • Page 243 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the Reduction Gear Unit Remove the Joint 5,6 Reduction Gear Unit Remove the J6 end flange. S02: 7-M3x6 J6 end flange Remove the J6 Reduction Gear from Arm5. 1. Remove the screws securing the J6 Reduction Gear.
  • Page 244 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the plug from Arm5. Removing the Reduction Gear Unit POINT Install the screw (recommended: M4x15 or longer) in the plug screw hole, and pull out the plug. Plug Screw Remove the bevel gear.
  • Page 245 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2. Insert a hexagonal wrench through the Arm5 plug hole, and remove the bolt (S01) Removing the Reduction Gear Unit securing the bevel gear. CAUTION The washer will be used again during installation. Be careful not to lose it.
  • Page 246 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the Wave Generator unit from Arm5. Removing the Reduction Gear Unit Wave Generator unit POINT Insert a hexagonal wrench through the Arm5 plug hole, push the Wave Generator unit shaft, and push the Wave Generator out of Arm5.
  • Page 247 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the O-ring from Arm5. Removing the Reduction Gear Unit O-ring (C) Seiko Epson Corporation 2-221 Rev.1...
  • Page 248 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Reduction Gear Unit <Preparation> Take the new Reduction Gear Unit out of the box, and check that the following parts are included. Install the O-ring on Arm5. POINT When replacing the Reduction Gear Unit, use the O-ring included with the Reduction Gear Unit.
  • Page 249 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease to the bearing of the Wave Generator. Installing the Reduction Gear Unit SK-2: Apply enough grease to fill the ball gap Wave Generator Grease Insert the Wave Generator unit into Arm5, and install.
  • Page 250 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the bevel gear. Installing the Reduction Gear Unit 1. Pass the bolt securing the bevel gear to the shaft through the washer, and apply Loctite 242. POINT Apply to five threads from the bolt end.
  • Page 251 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Install the screws (recommended: M3x28 or longer) in the screw holes as shown in the Installing the Reduction Gear Unit figure to hold the Wave Generator to prevent it from rotating.
  • Page 252 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the J6 Reduction Gear on Arm5. Installing the Reduction Gear Unit S02: 6-M3x28 (2.4 +/- 0.1 N⋅m) Arm5 J6 Reduction Gear POINT Align the longside of the Wave Generator and Flexspline, and install the Reduction Gear.
  • Page 253 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Apply grease around the bevel gear. Installing the Reduction Gear Unit SK-2: 2 g Insert the plug into Arm5. POINT Install the screw (recommended: M4x15 or longer) in the plug screw hole, and push in the plug.

  • Page 254: Replacing The Arm5 O-Ring

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8 Replacing the Arm5 O-ring Plug O-ring Arm5 (C) Seiko Epson Corporation 2-228 Rev.1...

  • Page 255: Removing The Arm5 O-Ring

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8.1 Removing the Arm5 O-ring Turn ON the controller. In order to make the plug easy to remove, change the angle of Arm5. Arm5 Turn OFF the Controller. Insert the screw into the plug.

  • Page 256: Installing The Arm5 O-Ring

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.8.2 Installing the Arm5 O-ring Install the O-ring on the plug. CAUTION Insert the O-ring firmly into the groove of the plug. Screw O-ring Plug Groove Hold the inserted screw, and insert the plug into Arm5.

  • Page 257: Replacing The Cable Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.9 Replacing the Cable Unit 2.9.1 Removing the Cable Unit Cable Unit (C) Seiko Epson Corporation 2-231 Rev.1...
  • Page 258 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Move the Manipulator to the origin posture (0 pulse position). Removing the Cable Unit Turn OFF the Controller. Remove the following parts. • Arm4 side cover • Arm3 head cover •...
  • Page 259 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Remove the User Plate. Removing the Cable Unit 2. Remove the D-sub 9-pin connectors and four Air Tubes from the User Plate. POINT Pull the Air Tubes slightly out of the interior of Arm4.
  • Page 260 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 1. Remove the Connector Plate. Removing the Cable Unit 2. Disconnect the following connectors from the Connector Plate. • Remove the following connectors from inside the base. SUB-B (CN1, CN2, CN3), CN3L1, CN3G0, CN111, CN200, CN201, CN202, CN300,...
  • Page 261 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the cables and connectors from Arm4. Removing the Cable Unit 1. Disconnect the Ground Wires (PE11, FB12, FB13) from the Arm4 cable fixing plate. S04: 3-M4x8 PE11 FB12 FB13...
  • Page 262 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Remove the following connectors from inside Arm4. Removing the Cable Unit BR052, BR062 Press the connector clip, and pull out. Connectors 4. Mark each cable with a marker pen so that the positions of the cables fixed to the Arm4 cable fixing plate can be identified.
  • Page 263 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Cut the wire tie securing the cables to the Arm4 cable fixing plate. Removing the Cable Unit Wire tie 6. Cut the wire tie securing the coil to the Arm4 cable fixing plate.
  • Page 264 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the cables and connectors from Arm3. Removing the Cable Unit 1. Mark each cable with a marker pen so that the positions of the cables fixed to the fixing plate can be identified.
  • Page 265 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Remove the following connectors from inside Arm3. Removing the Cable Unit LED, CN203, CN302, CN521, CN152, CN162 Connectors 4. Remove the bolts securing the Arm3 cable fixing plate. S01: 2-M4x8...
  • Page 266 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Disconnect the Ground Wire (FB11). Removing the Cable Unit S04: 1-M4x6 FB11 with washer 6. Pull the Ground Wire (PE9) out of the coil toward Arm3 (direction of the arrow in the figure).
  • Page 267 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Pull the four air tubes individually out of the coil toward Arm3 (direction of the arrow in Removing the Cable Unit the figure). Air Tubes After everything is pulled out...
  • Page 268 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Pull the remaining cables out of each coil toward Arm4 (direction of the arrow in the Removing the Cable Unit figure). At the same time, pass the connectors on the ends of the cables one by one through the hole that the coil passed through on the Arm3.
  • Page 269 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the cables, connectors, and the Motor Unit from Arm2. Removing the Cable Unit 1. Remove the J3 Motor unit. CAUTION The arm attached to the end of Arm3 drops down when the motor is removed. Put the arm against the stopper before removing the motor.
  • Page 270 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Cut the wire ties securing the cables to Arm2 and the wire ties dividing the cables. Removing the Cable Unit Wire tie Cable Wire tie Wire tie 5. Loosen the fixing bolts and remove the cable fixing plate at the bottom of Arm2.
  • Page 271 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the cables, connectors, and the Motor Unit from Arm1. Removing the Cable Unit 1. Cut the wire ties securing the cables to Arm1 and the wire ties dividing the cables.
  • Page 272 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Remove the J2 Motor unit. Removing the Cable Unit CAUTION The arm attached to the end of Arm3 drops down when the motor is removed. Put the arm against the stopper before removing the motor.
  • Page 273 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Remove the Arm1 cable fixing plate. Removing the Cable Unit S01: 1-M4x8 S01: 1-M6x20 Arm1 cable fixing plate 7. Cut the wire tie on the Arm1 cable fixing plate.
  • Page 274 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the cables and connectors from the base. Removing the Cable Unit 1. Cut the wire tie binding the cables. Wire tie 2. Remove the base cable bracket. S01: 2-M4x8...
  • Page 275 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Cut the wire ties on the base cable fixing plate. Removing the Cable Unit Wire ties Base cable fixing plate 4. Pull the Arm2 cables and the cables on the base toward Arm1 (direction of the arrow in the figure).
  • Page 276 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Remove from the Arm2 cable fixing plates from the cables. Removing the Cable Unit POINT The Arm2 cable fixing plates will be used again. Do not lose them. Cables...

  • Page 277: Installing The Cable Unit

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.9.2 Installing the Cable Unit <Preparation> 1. Check that the Cable Unit contains the following parts. • Silicone Sheet: 30 x 150 mm • Silicone Sheet: 15 x 50 mm •...
  • Page 278 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Cut the wire marker into the following lengths: Installing the Cable Unit 68 mm x 2 (for fixing the J1 wire tie) 65 mm x 1 (for fixing the J2 wire tie)
  • Page 279 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • As shown in the figure, insert the Air Tubes between the plate and the cables, and fix Installing the Cable Unit the plate to the Cable Unit. Plate Air Tubes Cables 6.
  • Page 280 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Insert the Cable Unit in the Manipulator. Installing the Cable Unit 1. Insert the separated Cable Unit (with 17.5 dia. protection spring) from Arm4 into Arm3. Cable Unit Cable Unit 2.
  • Page 281 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Insert the cable (Cable Unit with 29 dia. protection spring) from Arm1 into the base. Installing the Cable Unit Connectors inserted into the base (CN1, CN2, CN3) for SUB-B , D-Sub, B-release, PE3, CN3L1, CN3G0, CN200, CN201,...
  • Page 282 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Insert the Cable Unit pulled out of Arm2 into Arm3 (direction of the arrow in the figure). Installing the Cable Unit Arm3 Arm2 Cable Unit 6. Secure the Arm2 cable fixing plate to Arm2.
  • Page 283 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm3 and Arm4. Installing the Cable Unit 1. Pass the wire markers and wire ties through the Arm3 cable fixing plate. Wire tie: AB150 x 2...
  • Page 284 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Temporarily bind the two cables to the Arm3 cable fixing plate. Installing the Cable Unit Cables Cables Wire tie Wire tie Arm3 cable fixing plate Arm3 cable fixing plate POINT •...
  • Page 285 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Pass the four Air Tubes of the Cable Unit and the Ground Wire (PE11) through the Installing the Cable Unit cable protection spring (17.5 dia.) and pull them out of Arm4.
  • Page 286 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Temporarily bind the Cable Unit to the Arm4 cable bracket. Installing the Cable Unit Wire tie: AB200 Silicone Sheet: 15 mm x 50 mm Silicone Sheet Cable Unit Wire tie POINT As shown in the figure, put the Silicone Sheet on the plate and wrap it around the cables.
  • Page 287 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 8. Temporarily fasten the cables coming out of Arm4 to the Arm3 cable fixing plate. Installing the Cable Unit Wire tie: AB150 Wire marker: 46 mm Arm3 cable fixing plate...
  • Page 288 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Pull out the D-sub connector to the User Plate attachment part. Installing the Cable Unit D-sub connector User Plate attachment part 10. Pull out the four Air Tubes to the User Plate attachment part.
  • Page 289 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 12. Temporarily secure the Arm3 cable fixing plate to Arm3. Installing the Cable Unit S01: 2-M4x8 Arm3 （4.0 +/- 0.2 Arm3 cable fixing plate 13. Adjust the lengths of the cables and Air Tubes inside Arm3.
  • Page 290 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only • Air Tubes Installing the Cable Unit Set the bulge of the Air Tubes from Arm3 to 30 mm. Air Tubes • Ground Wire Set the length from the Arm3 cable fixing plate to the Ground Wire terminal to 110 Ground Wire •...
  • Page 291 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 14. Secure the temporarily fixed cables to the Arm4 cable bracket. Installing the Cable Unit Cables Arm4 cable bracket 15. Attach the Ground Wire (PE11) to the Arm4 cable fixing plate.
  • Page 292 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 17. Connect the connectors (BR052, BR062) inside Arm4. Installing the Cable Unit Connectors 18. Secure the temporarily fixed cables to the Arm3 cable fixing plate. Arm3 cable bracket 19. Attach the D-sub connector to the User Plate.
  • Page 293 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only POINT Installing the Cable Unit Attach the D-sub connector so that the User Plate fittings on the User Plate are oriented toward Arm4. User Plate fittings User Plate fittings 20. Attach the four Air Tubes to the User Plate fittings on the user plate.
  • Page 294 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 21. Install the User Plate on Arm4. Installing the Cable Unit S01: 2-M3x6 User Plate (2.0 +/- 0.1 N⋅m) 22. Install the J5 Motor unit J5 Timing Belt. 23. Install the...
  • Page 295 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm2. Installing the Cable Unit 1. Secure the cable protection spring (25 dia. x 130 mm) to Arm2. Wire tie: AB100 x 2 Number of turns of spring to fix: 3 turns...
  • Page 296 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Push the cables in the direction of the arrow and secure the temporarily fixed cables to Installing the Cable Unit the cable binder. Distance pushed in: 10 mm Cable binder Cables 4.
  • Page 297 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Connect the Ground Wires (PE7, PE8, FB10) to Arm2. Installing the Cable Unit S02: 3-M4x6 with washer (0.45 +/- 0.1 N⋅m) FB10 7. Bundle the Arm2 cables together with wire ties, as shown in the figure.
  • Page 298 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to Arm1. Installing the Cable Unit 1. Secure the cable protection spring (25 dia. x 130 mm) to Arm1. Wire tie: AB100 x 2 Number of turns of spring to fix: 3 turns...
  • Page 299 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Push the cables in the direction of the arrow and secure the temporarily fixed cables to Installing the Cable Unit the cable binder. Distance pushed in: 6 mm Cables 4.
  • Page 300 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 5. Bind the cable protection spring (25 dia. x 130 mm) to the Arm1 cable fixing plate. Installing the Cable Unit Wire tie: AB100 x 2 Number of turns of spring to fix: 3 turns...
  • Page 301 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 6. Temporarily fasten the cables to the Arm1 cable fixing plate. Installing the Cable Unit Wire tie: AB150 x 2 Wire marker: 68 mm x 2 Wire markers Cables Arm1 cable fixing...
  • Page 302 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Secure the Arm1 cable fixing plate to Arm1. Installing the Cable Unit S01: 1-M4x8 (4.0 +/- 0.2 N⋅m) S01: 1-M6x20 (13.0 +/- 0.65 N⋅m) Arm1 cable fixing plate 8. Secure the temporarily fixed cables to the Arm1 cable fixing plate.
  • Page 303 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 9. Install the J2 Motor unit J2 Timing Belt. Installing the Cable Unit 10. Install the gyro board 1 and gyro board 1 protective plate on Arm1. S04: 3-M3x15 Arm1 (0.45 +/- 0.1 N⋅m)
  • Page 304 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Secure the Cable Unit to the base. Installing the Cable Unit 1. Bind the cable protection spring (29 dia. x 130 mm) to the base cable fixing plate. Wire tie: AB100...
  • Page 305 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 3. Temporarily secure the cables wrapped in the Silicone Sheet to the base cable fixing Installing the Cable Unit plate. Wire tie: AB150 x 2 Wire ties Cables Base cable...
  • Page 306 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 4. Pull the cables and adjust the position of the plate. Installing the Cable Unit Plate position: 15 mm Plate Cables 5. Secure the cables that are temporarily secured with wire ties to the base cable fixing plate.
  • Page 307 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 7. Attach the Ground Wires (PE3, PE4) to the base cable fixing plate. Installing the Cable Unit POINT Orient the terminals as shown in the figure and secure them. S02: 2-M4x6...
  • Page 308 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the following parts. Installing the Cable Unit • Arm4 side cover • Arm3 head cover • Arm3 Maintenance Cover • Arm2 side cover • Arm1 side cover • Arm1 Center Cover •...

  • Page 309: Replacing The Board

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10 Replacing the Board 2.10.1 Replacing Gyro Board 1 Arm1 Center Cover S06: 3-M3x8 S03: 1-M3x10 S03: 3-M3x15 Gyro Board 1 Gyro Board 1 protective plate (C) Seiko Epson Corporation 2-283 Rev.1...
  • Page 310 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing Gyro Board 1 Turn OFF the Controller. Remove the Arm1 Center Cover. Disconnect the connectors (CN3, CN6). Remove gyro board 1 and the gyro board 1 protective plate. CAUTION Be careful not to drop the screws inside the Manipulator.
  • Page 311 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove the gyro board 1 protective plate. Removing Gyro Board 1 S03: 1-M3x10 Gyro board 1 Gyro board 1 protective plate (C) Seiko Epson Corporation 2-285 Rev.1...
  • Page 312 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing Gyro Board 1 Install the gyro board 1 protective plate on gyro board 1. S03: 1-M3x10 (0.45 +/- 0.1 N·m) Gyro board 1 Gyro board 1 protective plate POINT When installing, place the board connector and M3x10 screw as shown in the figure.
  • Page 313 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install gyro board 1 and the gyro board 1 protective plate on Arm1. Installing Gyro Board 1 S03: 3-M3x15 (0.45 +/- 0.1 N·m) Gyro board 1 Gyro board 1 protective plate Connect the connectors (CN3, CN6) to the board.

  • Page 314: Replacing Gyro Board 2

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10.2 Replacing Gyro Board 2 Arm3 Head Cover S06: 4-M3x8 Gyro Board 2 fixing plate S03: 4-M3x8 S01: 1-M4x10 S01: 1-M3x8 S04: 2-M4x8 Gyro Board 2 (C) Seiko Epson Corporation 2-288 Rev.1...
  • Page 315 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing Gyro Board 2 Turn OFF the Controller. Remove the Arm3 head cover. Disconnect the gyro board connector (CN3), and remove the screws securing the Ground Wires (PE9, PE10). S04: 2-M4x6...
  • Page 316 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Remove gyro board 2. Removing Gyro Board 2 S03: 4-M3x8 Gyro board 2 protective plate with washer Gyro board 2 protective plate (C) Seiko Epson Corporation 2-290 Rev.1...
  • Page 317 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing Gyro Board 2 Install gyro board 2. POINT Place the connector in the orientation shown in the figure. S03: 4-M3x8 with washer Gyro board 2 protective plate (0.45 +/- 0.1 N·m)
  • Page 318 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Connect the connector (CN3) to gyro board 2, and connect the Ground Wires (PE9, PE10) Installing Gyro Board 2 to the gyro board 2 fixing plate. S04: 2-M4x6 with washer (0.9 +/- 0.1 N·m)

  • Page 319: Replacing The Dc/Dc Board

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.10.3 Replacing the DC/DC Board DC/DC Board fixing plate DC/DC Board S03: 2-M3x8 and washer S01: 2-M3x8 Connector Plate S01: 4-M4x8 (C) Seiko Epson Corporation 2-293 Rev.1...
  • Page 320 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Removing the DC/DC Board Turn OFF the Controller. Remove the Connector Plate. Remove the connector plate screws, and remove the DC/DC Board fixing plate. S01: 2-M3x8 DC/DC Board fixing plate Connector Plate Remove the screws securing the DC/DC Board, and remove the DC/DC Board.
  • Page 321 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Disconnect the connectors (CN1, CN2, CN3) from the DC/DC Board. Removing the DC/DC Board DC/DC Board (C) Seiko Epson Corporation 2-295 Rev.1...
  • Page 322 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the DC/DC Board Connect the connectors (CN1, CN2, CN3) to the DC/DC Board. DC/DC Board Install the DC Board on the DC/DC Board fixing plate. S03: 2-M3x8 with washer (0.45 +/- 0.1 N·m)
  • Page 323 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Install the DC/DC Board fixing plate on the Connector Plate. Installing the DC/DC Board DC/DC Board S01: 2-M3x8 fixing plate (2.0 +/- 0.1 N·m) Connector Plate POINT Install on the Connector Plate with the orientation as shown in the figure.

  • Page 324: Replacing The Led Lamp

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.11 Replacing the LED Lamp 2.11.1 Removing the LED Lamp LED Lamp Arm3 Head Cover S06: 4-M3x8 (C) Seiko Epson Corporation 2-298 Rev.1...
  • Page 325 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Turn OFF the Controller. Removing the LED Lamp Remove the Arm3 head cover. Disconnect the connector (LED) for the LED lamp. POINT The connector (LED) for the LED lamp is under the Arm3 cover when it is open.

  • Page 326: Installing The Led Lamp

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.11.2 Installing the LED Lamp Install the LED lamp on Arm3. POINT Insert the LED lamp from Arm3, and affix the plastic nut from inside Arm3. Turn the nut clockwise, and secure the LED lamp to Arm3.

  • Page 327: Replacing The M/C Cable

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.12 Replacing the M/C Cable 2.12.1 Removing the M/C Cable Connector Plate Connector Sub Plate M/C Cable S01: 4-M4x8 S01: 4-M4x10 (C) Seiko Epson Corporation 2-301 Rev.1...
  • Page 328 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Turn OFF the Controller. Removing the M/C Cable Disconnect the following connectors from the Controller. Power cable connector, Signal cable connector Remove the Connector Plate. Remove the connectors. Connectors: CN3L1, CN3G0, CN111, CN200, CN201, CN202, CN300, CN301, CN312...
  • Page 329 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.12.2 Installing the M/C Cable Install the Connector sub plate to the connector plate. Connect the connectors of the new M/C cable to these of the cable unit. Connectors: CN3L1, CN3G0, CN111, CN200, CN201, CN202, CN300, CN301, CN312 POINT Connect the connectors with the same number.

  • Page 330: Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13 Cover Arm2 Side Cover Arm3 Head Cover S06: 4-M3x8 S06: 4-M3x8 S06: 6-M3x8 Arm3 Maintenance Cover S06: 4-M3x5 Arm4 Side Cover (right) User Plate S06: 4-M3x8 S01: 2-M3x6 Arm2 Side Cover...
  • Page 331 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only S06: 3-M3x8 Arm1 Center Cover S01: 4-M4x8 S06: 3-M3x8 S01: 4-M4x10 Connector Plate Connector Sub Plate Arm1 Side Cover S06: 3-M3x8 Arm1 Side Cover Base Cover S07: 4-M3x5 (C) Seiko Epson Corporation 2-305 Rev.1...

  • Page 332: Arm1 Center Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.1 Arm1 Center Cover S06: 3-M3x8 (0.45 +/- 0.1 N⋅m) CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 333: Connector Plate

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.2 Connector Plate S01: 4-M4x8 (4.0 +/- 0.2 N⋅m) CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.

  • Page 334: Connector Sub Plate

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.3 Connector Sub Plate S01: 4-M4x10 (4.0 +/- 0.2 N⋅m) CAUTION • Do not pull the Connector Plate with force. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system.

  • Page 335: Base Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.4 Base Cover Position the Manipulator as shown in the figure. Turn OFF the Controller. Remove the bolts securing the Manipulator to the platform. Lay the Manipulator down on its side.
  • Page 336 C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only Installing the Cover Base Cover Installation uses the opposite order to removal as described earlier. For securing the Manipulator to the platform, refer to “2.3 Environment and Installation” in the “6- Axis Robots C-B series Manual.”...

  • Page 337: Arm1 Side Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.5 Arm1 Side Cover S06: 3-M3x8 (0.45 +/- 0.1 N⋅m) CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 338: Arm2 Side Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.6 Arm2 Side Cover Arm2 S06: 4-M3x8 (0.45 +/- 0.1 N⋅m) side cover CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 339: Arm3 Head Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.7 Arm3 Head Cover S06: 4-M3x8 (0.45 +/- 0.1 N⋅m) CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 340: Arm3 Maintenance Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.8 Arm3 Maintenance Cover Move the arm to a position where the cover can be easily removed. Remove the Arm3 Maintenance Cover. S06: 4-M3x5 (0.6 +/- 0.1 N⋅m) CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 341: Arm4 Side Cover

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.9 Arm4 Side Cover Arm4 S06: 6-M3x8 (0.45 +/- 0.1 N⋅m) side cover (right) Wire tie CAUTION When installing the cover, be careful not to pinch the cables. Also, do not bend or push in using excessive force.

  • Page 342: User Plate

    C4-B Service Manual Maintenance Disclosure Scope: Maintenance Trained Personnel Only 2.13.10 User Plate S01: 2-M3x6 (2.0 +/- 0.1 N⋅m) CAUTION • Cables are connected internally, so do not pull with force when removing the User Plate. • When installing the User Plate, be careful not to pinch the cables. Also, do not bend or push in using excessive force.
  • Page 343 CHAPTER 3Adjustment...

  • Page 344: Adjusting The Timing Belt Tension

    C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.1 Adjusting the Timing Belt Tension The Manipulator uses six types of Timing Belts. When removing or replacing parts related to the belt, be sure to adjust the tension of the Timing Belt.

  • Page 345: Belt Tension Values

    C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.1.2 Belt Tension Values Tension Meter setting values (B) Timing belt at the Idler side Idler Unit mass (g/mm width x m span) Belt width (mm) (A) 107 (A) 107...

  • Page 346: Adjustment Method

    C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.1.3 Adjustment Method ⚫ Make sure that the belt is set to be level with respect to the pulley without it being placed on the flange. ⚫ Temporarily tighten the parts used to adjust the belt tension. After adjusting the tension, tighten the bolts with the correct CAUTION tightening torque.
  • Page 347 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only POINT Insert a hexagonal wrench through the hole in the base maintenance cover to work on the screw shown below. Hexagonal wrench J1 Motor unit 3. Attach the base maintenance cover after fixing the Joint #1 motor unit.
  • Page 348 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #2 Timing belt Apply tension to the Joint #2 Timing belt and fix the Joint #2 motor unit. 1. Install the screws for tension adjustment to the motor plate.
  • Page 349 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3. Apply tension by pressing toward the “A” surface in the figure and secure the motor unit. S01: 3-M4x18 and washer (4.0 +/- 0.2 N·m) Pulley 2 Timing belt 4. Make sure to remove the screws for tension adjustment.
  • Page 350 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #3 Timing belt Apply tension to the Joint #3 Timing belt and fix the Joint #3 motor unit. 1. Install the screws for tension adjustment to the motor plate.
  • Page 351 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3. Secure the Joint #3 motor unit by applying tension. S01: 2-M4x15 and washer (4.0 +/- 0.2 N·m) Joint #3 motor unit 4. Make sure to remove the screws for tension adjustment.
  • Page 352 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #4 Timing belt Apply tension to the Joint #4 timing belt and fix the Joint #4 motor unit. 1. Pass a suitable cord or a string (insulation lock) to the drilled hole of the motor plate. Then, pull the cord using a force gauge or a similar tool and apply specified tension to fix the motor unit.
  • Page 353 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #5 Timing belt Apply tension to the Joint #5 Timing belt and fix the Joint #5 motor unit. 1. Hang a non-stretchable cord (such as a wire tie) near the motor plate and pull it with a push-pull gauge or similar device to apply the specified tension.
  • Page 354 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Joint #6 Timing belt Apply tension to the Joint #6 Timing belt and fix the Joint #6 motor unit. 1. Hang a non-stretchable cord (such as a wire tie) near the motor plate and pull it with a push-pull gauge or similar device to apply the specified tension.

  • Page 355: Calibration

    Manipulator moves unexpectedly. In EPSON RC+, a coordinate point including the arm pose is defined as “point” and its data is called “point data”. There are two methods to move the Manipulator during calibration.
  • Page 356 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only Moving the Manipulator while releasing the electromagnetic brake involves risk as described below. It is recommended to move the Manipulator using Jog & Teach. ⚫ Normally, release the brake of joints one by one. Take extra care if you need to release the brakes of two or more joints simultaneously.
  • Page 357 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only When the home positions of the Joints #1 and #4 are uncertain, check torsion of the internal cables. The home positions NOTE are where the Manipulator has the internal cables not twisted at the basic orientation described in C-B Series Manual C4 Manipulator 3.7 Checking the Basic orientation.

  • Page 358: Calibration Flowchart

    C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 3.2.2 Calibration Flowchart Start Record the currently registered point data. Preparation Check the point data for calibration Calibration Procedure 1.Basic Pose Confirmation To replace parts refer to the Chapter Maintenance.

  • Page 359: Calibration Procedure

    Jog Motion Setting of the jog motion is required in some calibration procedures. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page. The panel, window, and page above are indicated as [Jog & Teach] in the calibration procedures.
  • Page 360 Turn ON the Controller while all joints are in the motion range. The error message “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be restarted.” will be displayed. Initialize the encoder at the current position and reset the error.
  • Page 361 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 4. Calibration Position of grooves for calibration Position of the calibration key The key is secured to the inside of the Arm #1 center cover. For Joint #5 Be sure to put the key back to the original position after use.
  • Page 362 Joint #6 >Encreset 6 4-3 Reboot the Controller. Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>. 4-4 Input the command in the Command window and execute it. Execute one of the following commands to reset the encoder of the joint you want to calibrate from the menu-[Tool]-[Command Window].
  • Page 363 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 4-5 Perform the calibration. Execute one of the following commands to reset the encoder of the joint you want to calibrate from the menu-[Tool]-[Command Window]. Joint #1 >calib 1 Joint #2 >calib 2 Joint #3 >calib 3...
  • Page 364 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 5. Calibration (More accurate positioning) Move the Manipulator to the selected point data by jogging in [Jog & Teach]. Move the joint* which is not calibrated to the specified point by motion command.
  • Page 365 C4-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only 6. Accuracy Testing Move the Manipulator to a different pose (point) to verify whether it moves back to the original position. If accuracy is inadequate, it is necessary to re-calibrate the origin using a different pose (point). You must set the pose (point) again if the Manipulator does not move back to the original position after re-calibration.
  • Page 366 CHAPTER 4Block Diagram/Wiring Diagram...

  • Page 367: Chapter 4 Block Diagram/Wiring Diagram

    C4-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.1 Block Diagram Gyro board 1 Gyro board 2 CN3 CN6 Sig n al CN LED Lamp Joint #4 Brake Brake Power Supply Joint #5 Brake Brake Power Supply...

  • Page 368: Wiring Diagram

    C4-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2 Wiring Diagram 4.2.1 Ground Wire (PE, FB), D-sub 9pin Connection FB12 - FB6 FB13 - FB8 FB10 - FB4 D-sub 9pin Gyro board 2 FB2 - M/C Signal...

  • Page 369: Motor Cable

    C4-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2.2 Motor Cable Connection Joint #1 Motor - CN311 - CN312 - M/C Signal Joint #4 Motor Joint #2 Motor - CN321 - CN300 - M/C Signal Joint #3 Motor - CN331...

  • Page 370: Brake Wire, Led Wire

    C4-B Service Manual Block Diagram/Wiring Diagram Disclosure Scope: Maintenance Trained Personnel Only 4.2.3 Brake Wire, LED Wire Connection - B-release J6 Brake - BR063 - Brake Power Supply - BR062 - CN203 - CN202 - M/C Power LED Lamp - B-release...
  • Page 371 CHAPTER 5Exploded View/Maintenance Parts List...
  • Page 372 C4-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only 5.1 Exploded View (C) Seiko Epson Corporation Rev.1...
  • Page 373 C4-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 374 C4-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 375 C4-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 376 C4-B Service Manual Exploded View/Maintenance Parts List Disclosure Scope: Maintenance Trained Personnel Only (C) Seiko Epson Corporation Rev.1...
  • Page 377 2232998 Joint #3 ✓ Reduction Gear Unit 1934761 Joint #3 O-ring 1520370 Joint #3 Reduction Gear ✓ Timing Belt 1593699 Joint #4 (C4-B, C4L-B) ✓ Motor 2232754 Joint #4 ✓ Brake 2202712 Joint #4 ✓ Reduction Gear Unit 1533648 Joint #4...
  • Page 378 2232754 Joint #5 ✓ Brake 2202713 Joint #5 ✓ Reduction Gear Unit 1934764 Joint #5 ✓ Timing Belt 1593701 Joint #6 (C4-B, C4L-B) ✓ Motor 2232754 Joint #6 ✓ Brake 2202714 Joint #6 ✓ Reduction Gear Unit 1939261 Joint #6 ✓...