E T-B Maintenance r2

SCARA ROBOT
T-B series
MAINTENANCE MANUAL
Rev.2 EM221R5047F
T-B series Maintenance Manual Rev.2
SCARA ROBOT
T-B series Maintenance Manual
Rev.2
Copyright  2021-2022 SEIKO EPSON CORPORATION. All rights reserved.
T-B series Maintenance Manual Rev.2 i

FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator and
the integrated Controller.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to Windows 8, and Windows 10.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety Manual Read this manual first
ii T-B series Maintenance Manual Rev.2

DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal

The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For European Union customers only
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household waste
stream. To prevent possible harm to the environment or human health please separate this
product and its batteries from other waste streams to ensure that it can be recycled in an
environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product. Use
of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to

DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
For Taiwanese customers only
Please separate used batteries from other waste streams to ensure that it can be recycled in
an environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product.
For California customers only

The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate
T-B series Maintenance Manual Rev.2 iii

Before Reading This Manual
This section describes what you should know before reading this manual.
NOTE
 “ T-B” and “T-B series” described in this manual are the following models.
T3-B series
T6-B series
NOTE
T-B series Manipulators can use the Teach Pendant (TP2, TP3). Do not connect the other
 devices to TP port except TP2 and TP3. Connecting other devices may result in malfunction
of the device since the pin assignments are different.
NOTE
Concerning the security support for the network connection:
 The network connecting function (Ethernet) on our products assumes the use in the local
network such as the factory LAN network. Do not connect to the external network such as
Internet.
In addition, please take security measure such as for the virus from the network connection
by installing the antivirus software.
NOTE Security support for the USB memory:

 Make sure the USB memory is not infected with virus when connecting to the Manipulator.
NOTE
 If written T series in the reference information, read it as T-B series.
Features of T-B series Manipulators

The T-B series Manipulators are Controller integrated Manipulators.
iv T-B series Maintenance Manual Rev.2

Structure of Robot System
The T-B series Manipulators can be used with the following combinations of software.
Controller Firmware
T3-B401S, T6-B602S
Ver.7.5.51.1 or later
Ver.7.5.1 or earlier !!!
EPSON RC+ 7.0
Ver.7.5.1A or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are
available.
!!!: Compatible Connection is OK. It is recommended to use the EPSON RC+ 7.0
Ver.7.5.1A or later. Display or control may not be operated properly.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software

This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON
RC+
T-B series Maintenance Manual Rev.2 v

The Manuals of This Product
The following are typical manual types for this product and an outline of the descriptions.
Safety Manual (book, PDF)

This manual contains safety information for all people who handle this product. The
manual also describes the process from unpacking to operation and the manual you should
look at next.
Read this manual first.
- Safety precautions regarding robot system and residual risk
- Declaration of conformity
- Training
- Flow from unpacking to operation
T-B series Manual (PDF) (Controller integrated Manipulators)

This manual describes the specifications and functions of the Manipulator. The manual is
primarily intended for people who design robot systems.
- Technical information, functions, specifications, etc. required for the
Manipulator installation and design
- Daily inspection of the Manipulator
Status Code/Error Code List (PDF)

This manual contains a list of code numbers displayed on the controller and messages
displayed in the software message area. The manual is primarily intended for people who
design robot systems or do programming.
T-B series Maintenance Manual (PDF) (Controller integrated Manipulators)

This manual describes the details of maintenance etc. The manual is intended for people
who perform maintenance.
- Daily inspection
- Replacement and repair of maintenance parts
- The method of firmware update and controller setting backup etc.
EPSON RC+ 7.0 User’s Guide (PDF)

This manual describes general information about program development software.
EPSON RC+ 7.0 SPEL+ Language Reference (PDF)

This manual describes the robot programming language “SPEL+”.
Other Manual (PDF)

Manuals for each option are available.
vi T-B series Maintenance Manual Rev.2

Table of Contents
T3-B T6-B Maintenance

1. Safety Maintenance 3
1.1 Conventions......................................................................................... 3
1.2 Maintenance Precautions .................................................................... 4
2. General Maintenance 5
2.1 Maintenance Inspection ...................................................................... 5
2.1.1 Schedule for Maintenance Inspection ..................................... 5
2.1.2 Inspection Point ....................................................................... 6
2.2 Overhaul (Parts Replacement)............................................................ 7
2.3 Greasing .............................................................................................. 9
2.4 Tightening Hexagon Socket Head Cap Bolts.................................... 12
2.5 Matching Origins................................................................................ 12
2.6 Layout of Maintenance Parts ............................................................ 13
3. Manipulator Structure 14
4. Alarm 16
4.1 Maintenance ...................................................................................... 17
4.2 Maintenance Information ................................................................... 18
4.2.1 How to View the Maintenance Information............................ 18
4.2.2 How to Edit the Maintenance Information ............................. 19
4.2.3 Alarm Notifying Method ......................................................... 20
4.2.4 How to Cancel the Alarm ....................................................... 20
5. Backup and Restore 21

5.1 What is the Backup Controller Function ............................................ 21
5.2 Backup Data Types ........................................................................... 21
5.3 Backup ............................................................................................... 22
5.4 Restore .............................................................................................. 23
6. Firmware Update 26
6.1 Updating Firmware ............................................................................ 26
6.2 Firmware Upgrade Procedure ........................................................... 26
6.3 Manipulator Recovery ....................................................................... 29
6.4 Firmware Initialization Procedure ...................................................... 30
6.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection ................................................................................................. 32
7. Covers 36
7.1 Arm Top Cover .................................................................................. 38
7.2 Arm Bottom Cover ............................................................................. 39
T-B series Maintenance Manual Rev.2 vii

Table of Contents
7.3 Power Cable Cover ............................................................................ 39

7.4 Connector Plate ................................................................................. 40
7.5 Power Unit Cover ............................................................................... 42
7.6 Base Side Cover ................................................................................ 43
7.7 User Plate...........................................................................................44
8. Cable 45
8.1 Replacing Cable Unit ......................................................................... 46
8.2 Insert or Pull out of Power Cable ....................................................... 54
9. Joint #1 55
9.1 Replacing Joint #1 Motor ................................................................... 56
9.2 Replacing Joint #1 Reduction Gear Units .......................................... 70
10. Joint #2 73
10.1 Replacing Joint #2 Motor ................................................................. 74
10.2 Replacing Joint #2 Reduction Gear Units ........................................ 80
11. Joint #3 83
11.2 Replacement of the timing belt ........................................................ 93
11.3 Replacing the Brake ......................................................................... 94
11.4 Checking the Timing Belt Tension (Z Belt) ...................................... 95
12. Joint #4 96
12.2.1 U2 Belt (T6-B) ....................................................................105
12.2.2 U1 Belt (T6-B) ....................................................................110
12.2.3 U Belt (T3-B) ......................................................................111
12.3 Checking the Timing Belt Tension .................................................112
13. Ball Screw Spline Unit 113
14. Lithium Battery, SD Card, Boards, and Filter 116

14.1 Replacing the CPU/DPB Boards....................................................117
14.2 Replacing the Lithium Battery ........................................................120
14.3 Replacing the SD Card ..................................................................121
14.4 Replacing the Power Board ...........................................................122
14.5 Fieldbus I/O ....................................................................................124
viii T-B series Maintenance Manual Rev.2

Table of Contents
15. LED Lamp Unit 126
16. RESET Switch 128
17. Calibration 129

17.1 About Calibration ........................................................................... 129
17.2 Calibration Procedure.................................................................... 130
17.3 Accurate Calibration of Joint #2 .................................................... 140
17.4 Reference: Calibration Procedure Without Using Calibration Wizard
.................................................................................................................. 142
18. Error Code Table 146
19. Maintenance Parts List 147

19.1 T3-B ............................................................................................... 148
19.2 T6-B ............................................................................................... 149
T-B series Maintenance Manual Rev.2 ix

Table of Contents
x T-B series Maintenance Manual Rev.2

T3-B T6-B Maintenance
This volume contains maintenance procedures with safety precautions for T-B series Manipulators.
T3-B T6-B Maintenance 1. Safety Maintenance
1. Safety Maintenance
Please read this chapter, this manual, and other relevant manual carefully to understand safe
maintenance procedures before performing any maintenance.
Only personnel who has taken maintenance training held by us and suppliers should be
allowed to perform the maintenance of robot system.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
This symbol indicates that a danger of possible serious injury

or death exists if the associated instructions are not followed
WARNING properly.
This symbol indicates that a danger of possible serious injury

or death caused by electric shock exists if the associated
WARNING instructions are not followed properly.
This symbol indicates that a danger of possible harm to people

or physical damage to equipment and facilities exists if the
CAUTION associated instructions are not followed properly.
T-B series Maintenance Manual Rev.2 3

T3-B T6-B Maintenance 1. Safety Maintenance
1.2 Maintenance Precautions
■ Do not remove any parts and maintenance that are not covered in this manual.
Improper removal of parts or improper maintenance may not only cause improper
function of the robot system but also serious safety problems.
■ Keep away from the Manipulator while the power is ON if you have not taken the
training courses. Do not enter the operating area while the power is ON. Entering
the operating area with the power ON is extremely hazardous and may cause
serious safety problems as the Manipulator may move even it seems to be
stopped.
■ When you check the operation of the Manipulator after replacing parts, be sure to
WARNING check it while you are outside of the safeguarded area. Checking the operation of
the Manipulator while you are inside of the safeguarded area may cause serious
safety problems as the Manipulator may move unexpectedly.
■ Before operating the robot system, make sure that both the Emergency Stop
switches and safeguard switch function properly. Operating the robot system when
the switches do not function properly is extremely hazardous and may result in
serious bodily injury and/or serious damage to the robot system as the switches
cannot fulfill their intended functions in an emergency.
■ To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle. DO NOT
connect it directly to a factory power source.
■ Before performing any replacement procedure, turn OFF the robot system and
related equipment, and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in electric shock and/or malfunction of the robot system.
WARNING
■ Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) Damaged cables, disconnection, or contact failure is extremely
hazardous and may result in electric shock and/or improper function of the robot
system.
■ Manipulator may be warmed up due to motor heat or similar causes. Do not touch
the Manipulator until temperature falls. Also, make sure the temperature of the
Manipulator falls and is not hot when you touch it. Then perform teaching or
maintenance.
CAUTION
■ When performing maintenance on the Manipulator, secure an empty space of
about 50 cm around the Manipulator.
4 T-B series Maintenance Manual Rev.2

T3-B T6-B Maintenance 2. General Maintenance
2. General Maintenance
Performing maintenance inspections and procedures properly is essential for preventing
trouble and ensuring safety. This chapter describes maintenance inspections and procedures.
Be sure to perform the maintenance inspections in accordance with the schedule.
2.1 Maintenance Inspection

2.1.1 Schedule for Maintenance Inspection
Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual.
The inspection points are added every stage. If the Manipulator is operated for 250 hours or
longer per month, the inspection points must be added every 250 hours, 750 hours, 1500
hours, and 3000 hours operation.
Inspection Point
Daily Monthly Quarterly Biannual Annual
Overhaul
inspection inspection inspection inspection inspection (replacement)
1 month (250 h) √
2 months (500 h) √
3 months (750 h) √ √
4 months (1000 h) √
5 months (1250 h) √
Inspect every day
6 months (1500 h) √ √ √
7 months (1750 h) √
8 months (2000 h) √
9 months (2250 h) √ √
10 months (2500 h) √
11 months (2750 h) √
12 months (3000 h) √ √ √ √
13 months (3250 h) √
…
(20000 h) √

2.1.2 Inspection Point

Inspection Item
Inspection Item Inspection Place Daily Monthly Quarterly Biannual Annual
Check looseness or backlash of End effector mounting bolts √ √ √ √ √
bolts/screws. Manipulator mounting bolts √ √ √ √ √
External connectors on
Check looseness of connectors. Manipulator (on the connector √ √ √ √ √
plates etc.)
External appearance of
Visually check for external defects. √ √ √ √ √
Manipulator
Clean up if necessary.
External cables √ √ √ √
Check for bends or improper
location. Repair or place it properly if Safeguard etc. √ √ √ √ √
necessary.
Check the brake operation Brake for arm #3 √ √ √ √ √
Check whether unusual sound or
Whole √ √ √ √ √
vibration occurs.
Check the power supply behavior. Controller - - - - √
Check behavior of the emergency Emergency stop button - - - - √
stop button and safeguard. Safeguard - - - - √
Inspection Method
Inspection Item Inspection Method
Use a hexagonal wrench to check that the end effector mounting bolts
Check looseness or backlash of and the Manipulator mounting bolts are not loose.
bolts/screws. When the bolts are loose, refer to “2.4 Tightening Hexagon Socket Head
Bolts” and tighten them to the proper torque.
Check that connectors are not loose.
Check that connectors are not loose.
When the connectors are loose, reattach it not to come off.
Check the appearance of the Manipulator and clean up if necessary.
Visually check for external defects.
Check the appearance of the cable, and if it is scratched, check that there
Clean up if necessary.
is no cable disconnection.
Check for bends or improper location. Check that the safeguard, etc. are located properly.
Repair or place it properly if necessary. If the location is improper, place it properly.
Check that the shaft does not fall when in MOTOR OFF.
If the shaft falls when in MOTOR OFF and the brake is not released,
Check the brake operation
contact the supplier.
If the brake is not released when releasing the brake, contact the supplier.
Check whether unusual sound or Check that there is no unusual sound or vibration when operating.
vibration occurs. If there is something wrong, contact the supplier.

2.2 Overhaul (Parts Replacement)

■ If you do not overhaul properly, it may have a serious impact on safety.
■ Overhaul timing is based on an assumption that all joints are operated for equal
distance. If a particular joint has a high duty or high load, it is recommended to
CAUTION overhaul all joints (as many as possible) before exceeding 20,000 operation hours
with the joint as a basis.
The parts for the manipulator joints may cause accuracy decline or malfunction due to
deterioration of the manipulator resulting from long term use. In order to use the manipulator
for a long term, it is recommended to overhaul the parts (parts replacement).
The time between overhauls is 20,000 operation hours of the Manipulator as a rough
indication.
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.
NOTE For the EPSON RC+ 7.0 the recommended replacement time for the parts subject to
 maintenance (motors, reduction gear units, and timing belts) can be checked in the
[Maintenance] dialog box.
Refer to “4. Alarm”.
NOTE:
The recommended replacement time for the maintenance parts is when it reaches the L10
life (time until 10% failure probability).
In the [Maintenance] dialog box, the L10 life is displayed as 100%.

The manipulator operation hours can be checked in [Controller Status Viewer] dialog -
[Motor On Hours].
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller
Tools] dialog box.
(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
(3) Select the folder where the information is stored.
(4) Click <OK> to view the [Controller Status Viewer] dialog.
(5) Select [Robot] from the tree menu on the left side.
For the parts subject to overhaul, refer to “19. Maintenance Parts List”.
For details of replacement of each part, refer to each section.
Please contact the supplier of your region for further information.

2.3 Greasing
The ball screw spline and reduction gear units need greasing regularly. Only use the grease
specified in the following table.
■ Keep enough grease in the Manipulator. Operating the Manipulator with
insufficient grease will damage sliding parts and/or result in insufficient function of
CAUTION the Manipulator.
■ If grease gets into your eyes, mouth, or on your skin, follow the instructions below.
If grease gets into your eyes
: Flush them thoroughly with clean water, and then see a
doctor immediately.
If grease gets into your mouth
: If swallowed, do not induce vomiting. See a doctor
CAUTION immediately.
If grease just gets into your mouth, wash out your mouth
with water thoroughly.
If grease gets on your skin
: Wash the area thoroughly with soap and water.
Greasing part Greasing Interval Grease How to grease

Joint #1 Reduction gear 9. Joint #1
Overhaul timing SFB No.1
Joint #2 units 10. Joint #2
At 100 km of
Ball screw spline Greasing the Ball Screw Spline Unit
Joint #3 operation (50 km AFB
unit (See below)
for first greasing)
Joint #1, 2 reduction gear units

As a rough indication, perform greasing at the same timing as overhaul.
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.
Joint #3 Ball screw spline unit
The recommended greasing interval is at 100 km of operation. However, greasing timing
also can be checked from the grease condition. Perform greasing if the grease is discolored
or becomes dry.
Normal grease Discolored grease
Perform greasing at 50 km of operation for the first time of greasing.

NOTE
For the EPSON RC+ 7.0 the recommended replacement time for the grease on the ball screw
 spline unit can be checked in the [Maintenance] dialog box.
Refer to “4. Alarm”.
Greasing the Ball Screw Spline Unit
Name Quantity NOTE

For Ball Screw Spline Unit Proper
Grease
(AFB grease) quantity
Tools Wiping cloth 1 For wiping grease (Spline shaft)
NOTE
 Cover the surrounding area such as the end effector and peripheral equipment in case the
grease drips.
(1) Turn ON the Controller.
(2) Move the shaft to its lower limit in one

Joint #3
of the following methods.
Brake release switch
- Move the shaft to its lower limit
manually while pressing the brake
release switch.
NOTE
 Be careful of the shaft falling and

rotating while the brake release switch is Arm #2
being pressed because the shaft may be
lowered by the weight of the end
effector.
- Move the shaft to its lower limit from

Arm #1
NOTE EPSON RC+ 7.0 [Tools]-[Robot
 Manager]-[Jog & Teach].

Make sure that the hand does not
Shaft
interfere with peripheral equipment.
(Illustration T3-B401S)
(3) Turn OFF the Controller.
(4) Wipe off the old grease from the shaft, and
then apply new grease to it.
Grease application range is from the end of
the spline nut to mechanical stop.
Grease End of spline nut

application
range
Shaft
Mechanical stop
(Illustration T3- B401S)

(5) Apply grease evenly to the spiral groove of

the ball screw spline unit and the vertical
groove so that the groove is filled.
Grease application example

(6) Turn ON the Controller.
(7) Start the robot manager and move the shaft to the origin position. Be careful not to hit
peripheral equipment.
(8) After moving to the origin position, reciprocate the shaft. The reciprocating operation is
a low power mode operation program that performs from the upper limit to the lower
limit. Run for about 5 minutes to spread the grease over the shaft.
(9) Turn OFF the Controller.
(10) Wipe off excess grease on the end of the

spline nut and mechanical stop.
End of spline nut
(Illustration T3- B401S)

2.4 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts (herein after referred to as bolt) are used in places where
mechanical strength is required. These bolts are fastened with the tightening torques shown
in the following table.
When it is necessary to refasten these bolts in some procedures in this manual (except special
cases as noted), use a torque wrench so that the bolts are fastened with the appropriate
tightening torques as shown below.
Bolt Tightening torque Refer below for the set screw.
M3 2.0± 0.1 N⋅m (21 ± 1 kgf⋅cm) Set Screw Tightening torque
M4 4.0± 0.2 N⋅m (41 ± 2 kgf⋅cm) M4 2.4± 0.1 N⋅m (26 ± 1 kgf⋅cm)
M5 8.0± 0.4 N⋅m (82 ± 4 kgf⋅cm) M5 4.0± 0.2 N⋅m (41 ± 2 kgf⋅cm)
M6 13.0± 0.6 N⋅m (133 ± 6 kgf⋅cm)
M8 32.0± 1.6 N⋅m (326 ± 16 kgf⋅cm)
M10 58.0± 2.9 N⋅m (590 ± 30 kgf⋅cm)
M12 100.0± 5.0 N⋅m (1,020 ± 51 kgf⋅cm)
The bolts aligned on a circumference should be fastened in a crisscross pattern as shown in

the figure below.
1 Do not fasten all bolts securely at one time.
5 8 Divide the number of times that the bolts are
Bolt hole fastened into two or three and fasten the bolts
3 4
securely with a hexagonal wrench.
7 6
2
2.5 Matching Origins

After parts have been replaced (motors, reduction gear units, a brake, timing belts, ball screw
spline unit, etc.), the Manipulator cannot operate properly because a mismatch exists
between the origin stored in each motor and its corresponding origin stored in the Robot
system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
For calibration, the pulse values for a specific position must be recorded in advance.
Before replacing parts, select easy point (pose) data from the registered point data to check
the accuracy. Then, follow the steps below to display the pulse values and record them.
EPSON Execute the following command from the [Command Window].

RC+ >PULSE
PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls
[Joint #4 Pulse value] pls

2.6 Layout of Maintenance Parts

T3-B
Cable Unit
Break Release Switch

LED Lamp
Joint #2, 3, 4 Joint #4 Motor
AMP Board Unit Joint #3
Motor Power Supply Board
Ball Screw
Spline Unit
Joint #1
Reduction Unit
Arm Top CPU/DPB Unit
Cover
Joint #2
Z Belt Motor
Arm Bottom Joint #3
Cover Joint #1
Break SD Card
Reduction Unit
U Belt
Joint #1
AMP Board Unit
Joint #1 Motor
Lithium Battery
T6-B
Cable Unit
Ball Screw
Spline Unit Break Release
Switch
LED Lamp
Joint #2, 3, 4 Joint #4
AMP Board Unit Motor
Power Supply Board
Arm Top
Cover Joint #3
Motor
Joint #2
Motor Joint #1
Reduction Unit
CPU/DPB Unit
U1 Belt
Joint #3 Joint #1 Joint #1
Arm Bottom U2 Belt Break Motor AMP Board Unit
Joint #2
Cover
Z Belt Reduction Unit
SD Card
Lithium Battery
Regenerative
Resistor

T3-B T6-B Maintenance 3. Manipulator Structure
3. Manipulator Structure
T3-B

T3-B T6-B Maintenance 3. Manipulator Structure
T6-B

T3-B T6-B Maintenance 4. Alarm
4. Alarm
When the lithium batteries run out, a voltage reduction alarm warning occurs. However, the
warning does not guarantee that the battery lasts until you replace it. Therefore, you need to
replace the battery immediately.
If the battery has run out, the manipulator parameters will be lost and recalibration of the
manipulator will be required. If the manipulator breaks down due to deterioration of the
parts, it will take significant time and cost for repair.
The following sections describe the alarm function which announces the following
maintenance timings in order to perform maintenance well ahead of time before the warning
error.
- Battery replacement
- Grease up
- Replacement of the timing belt
- Replacement of the motor
- Replacement of the reduction gear unit
- Replacement of the ball screw spline unit

4.1 Maintenance
The recommended replacement time can be configured for the batteries, grease, timing belts,
motors, reduction gear units, and ball screw spline units.
■ Make sure that the date and time on the Manipulator are set correctly.
Maintenance cannot be performed properly with improper date and time setting.
■ If the CPU/DPB board or SD card is replaced, the Maintenance information may
CAUTION be lost. When you replaced these parts, confirm the date and time of the
Manipulator and the Maintenance information.
NOTE Settings of the Maintenance are different depending on installation methods of the firmware.
 Initial installation: Maintenance is enabled.

Upgrade: Maintenance inherits the previous data.
(Disables as default)
For details for enabling or disabling the Maintenance, refer to the EPSON RC+ 7.0 User’s
Guide 5.12.2 [System Configuration] Command (Setup Menu) - [Setup]-[System
Configuration]-[Controller]-[Preferences] Page.
NOTE
 Maintenance is enabled at shipment.
If enabled, the Maintenance information for the battery, timing belts, motors, reduction gear
units, ball screw spline unit, and grease up will be configured automatically when the robot
is configured or changed.
The following parts are subject to grease up: Ball screw spline unit on the Joint # 3
When the manipulator is deleted from the configuration, the Maintenance information will
also be automatically deleted.
For details on the manipulator configuration, refer to the EPSON RC+ 7.0 User’s Guide
“10.1 Setting the Robot Model”.
■ Changing of the manipulator should be done carefully. The alarm setting will be
reset when the manipulator is changed.
CAUTION
If the Maintenance is enabled, the battery is automatically configured at the first connection.

4.2 Maintenance Information

4.2.1 How to View the Maintenance Information
The configured Maintenance information can be checked in the EPSON RC+.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller
Tools] dialog box.
(2) To check the controller Maintenance information, click the <Maintenance> button
and display the [Maintenance] dialog box.
(3) Select “General” or specify the axis from the tree to display information of the target
parts.
NOTE
The recommended replacement time for the battery is calculated based on the battery
 capacity and the Manipulator ON time. The battery may run out if it passes the
recommended replacement time.
NOTE
 The recommended replacement time for the grease is calculated based on the elapsed days
since date of grease up. The replacement time may be shorter or longer depending on usage
condition, such the load applied on the robot.
NOTE The recommended replacement time for the parts (timing belts, motors, reduction gear units,
 and ball screw spline unit) is when it reaches the L10 life (time until 10% failure probability).
In the [Maintenance] dialog box, the L10 life is displayed as 100%.
4.2.2 How to Edit the Maintenance Information

The configured Maintenance information can be edited in the EPSON RC+.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools]
dialog box.
(2) To edit the Maintenance information, display the [Maintenance] dialog box.
(3) Select “General” or specify the axis from the tree to display information of the target
parts.
(4) Select the alarm to be changed and click the <Change> button.
(5) Display the [Change Alarm] dialog box and enter any of the following.
Purchase or replacement date of the battery

Date of grease up
Purchase or replacement date of the timing belt
Purchase or replacement date of the motor
Purchase or replacement date of the reduction gear unit
Purchase or replacement date of the ball screw spline unit
(6) Click the <OK> button and change the specified alarm information.
NOTE
The offset can be set for the consumption rate of already installed parts.
 Follow the steps below to calculate a rough offset setting value.
1. Measure the usable months for the past operation by “HealthRBAnalysis” command.
2. Confirm the past Motor ON time in the controller status viewer.
3. Calculate a rough offset value with the following formula.
Motor On time
Offset=100××
24××30.4375××Usable months
For details, refer to the EPSON RC+ 7.0 SPEL+ Language Reference.

4.2.3 Alarm Notifying Method

The Manipulator status becomes warning and displays warning message if any parts
required to perform replacement or grease up.
For details, refer to the following manual.
Status Code / Error Code List
The alarm notifying method can be configured by the output bit of the Remote I/O.
The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System Configuration]
- [Controller] - [Remote Control].
For details, refer to EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O.
NOTE
The controller enters the warning state if an alarm occurs.
 Alarm1 to Alarm9 set in the output bit of the remote I/O monitor the occurrence of warnings
every 5 minutes.
The alarm occurrence and output timing on the controller are different. It may be output to
the remote I/O up to 5 minutes after the alarm is occurred on the controller.
4.2.4 How to Cancel the Alarm

An alarm occurs when the consumption rate of the parts reaches 100%.
NOTE The alarm cannot be canceled by executing the Reset command or restarting the controller.
 The alarm can be canceled by the following method.

Operation from [Maintenance] dialog box of the EPSON RC+ 7.0
HealthCtrlReset Command
HealthRBReset Command
Refer to “4.2.2 How to Edit the Maintenance Information” to change the alarm
information in the same steps.

T3-B T6-B Maintenance 5. Backup and Restore
5. Backup and Restore

5.1 What is the Backup Controller Function
The Manipulator configuration set by EPSON RC+ 7.0 can be stored with the “Backup
Controller” function.
The Manipulator settings can be restored easily using the data previously stored with
“Backup Controller” after a configuration mistake or Manipulator problem.
Be sure to execute “Backup Controller” before changing the Manipulator setup, before
maintenance, or after teaching.
For some problems, backup may not be available before maintenance has to be performed.
Be sure to backup the data after making changes, before problems occur.
NOTE
“Controller Status Storage” is one of the T-B series functions. It saves the Controller setup
 data same as “Backup Controller.”
There data can be used as the backup data at restoring.
The methods for “Controller Status Storage” are as follows:
A : “Controller status storage to USB memory”
For details, refer to T-B series Manual “T3-B T6-B Manipulator 8. Memory Port”.
B : “Export Controller Status function” in EPSON RC+ 7.0.
For details, refer to “EPSON RC+ 7.0 User’s Guide 5.9.10 Import Command
(Project Menu)”.
5.2 Backup Data Types

The table below shows the files created with “Backup Controller”.
File Name Overview

Backup.txt Information file for File including information for restoring the
restore Manipulator.
CurrentMnp01.PRM Manipulator Stores information such as ToolSet.
parameters
InitFileSrc.txt Initial Stores various Manipulator parameters.
configuration
MCSys01.MCD Manipulator Stores connected Manipulator information.
configuration
All the files related Project related All the project files transferred to the
to Project Controller.
Includes program files when EPSON RC+ 7.0
is configured to transfer source code to the
Controller.
GlobalPreserves.dat Global Preserve Saves values of Global Preserve variables.
variables
WorkQueues.dat WorkQue Saves information of Queues information of
information the WorkQue.

5.3 Backup
Backup the Manipulator status from the EPSON RC+ 7.0.
dialog box.
(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
(3) Specify the folder to save the backup data. Create a new folder if desired.
(4) Click the <OK> button. A folder is created in the specified folder containing the backup
data with a name in the following format.
B_T_ serial number_ date status was saved
→ Example: B_T_12345_2016-04-03_092941
■ Do not edit the backup files. Otherwise, operation of the robot system after data
restoration to the Manipulator is not assured.
CAUTION

5.4 Restore
Restore the Manipulator status from the EPSON RC+ 7.0.
■ Make sure that the data used for restoring was saved previously for same
Manipulator.
■ Do not edit the backup files. Otherwise, operation of the robot system after data
CAUTION
restoration to the Manipulator is not assured.
dialog box.
(2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.
(3) Specify the folder to save the backup data.

B_T_ serial number_ date status was saved
→ Example: B_T_12345_2016-04-03_092941
NOTE Controller status backup to USB memory function can also be specified for restore. Specify
 the following folder

(4) Click the <OK> button to display the dialog to select the restore data.
Robot name, serial #, calibration

This checkbox allows you to restore the robot (Manipulator) name,
Manipulator serial number, Hofs data, and CalPls data. Make sure that
the correct Hofs data is restored. If the wrong Hofs data is restored, the
Manipulator may move to wrong positions.
This is not selected by the default setting.
Robot maintenance configuration
This check box allows you to restore the robot alarm related files.
For details, refer to “4. Alarm”.
Check this check box when restoring a backup data which is retrieved
while the EPSON RC+ 7.0 menu-[Setup]-[System Configuration]-
[Controller]-[Preferences]-[Enable robot maintenance data] checkbox
is checked. If not checked, the maintenance data will not be reflected.
Project
This check box allows you to restore the files related to projects
When a project is restored, the values of Global Preserve variables are
initialized.
For details about Global Preserve variable backup, refer to EPSON
RC+ 7.0 User’s Guide “5.10.10 Display Variables Command (Run
Menu)”.
Vision hardware configuration
This check box allows you to restore the vision hardware configuration.
For details, refer to EPSON RC+ 7.0 option Vision Guide 7.0.
Security configuration
This check box allows you to restore the security configuration.
For details, refer to EPSON RC+ 7.0 User’s Guide “15. Security”.

Force Sensing I/F configuration

This check box allows you to restore the Force Sensing I/F configuration.
This function is not supported for T-B series Manipulator.
Password authentication settings

This check box allows you to restore the setting of authentication for PC
connection.
The authentication password for PC connection and the setting to
disable connection authentication are restored.
Click the <OK> button to restore the system information.
NOTE Restore the system configuration saved using Backup Controller only for the same system.
 When different system information is restored, the following warning message appears.
Click the <No> button (do not restore data) except for special situations such a manipulator
replacement.
NOTE
 When restoring the backup including the robot information other than T-B series, an error
occurs.
NOTE You cannot restore the backup including T-B series robot created in the virtual controller of
 EPSON RC+ 7.0 to the T-B series robot.

T3-B T6-B Maintenance 6. Firmware Update
6. Firmware Update
This chapter describes the firmware upgrade procedure and data file initialization when
firmware or manipulator configuration errors cause Manipulator startup or operation failure.
6.1 Updating Firmware

Firmware (software stored in non-volatile memory) and data files necessary to control the
Manipulator are pre-installed in the Manipulator. Controller configuration set from EPSON
RC+ 7.0 is always saved in the Manipulator.
Firmware is supplied by CD-ROM as needed. Please contact the supplier of your region for
information.
You must use a PC running EPSON RC+ 7.0 connected to a Manipulator with USB to update
the Manipulator firmware. Firmware cannot be updated with an Ethernet connection.
NOTE When installing the firmware Ver.7.5.0.x or later, be sure to use the PC which EPSON RC+
 7.0 Ver.7.5.0 or later is installed.
6.2 Firmware Upgrade Procedure

The firmware upgrade procedure is described as follows:
■ DO NOT unplug the USB cable, or turn OFF the Manipulator or the
development PC during upgrade of the firmware. Doing so may result in
CAUTION malfunction of the robot system.
(1) Connect the development PC and the Manipulator with a USB cable.
(the firmware cannot be changed with an Ethernet connection.)
(2) Turn ON the Manipulator.
(Do not start the development software EPSON RC+ 7.0 until the firmware upgrade is
completed.)
(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.
(4) Execute “CtrlsetupT.exe”. The following dialog appears.

(5) Select the <Upgrade> option button and click the <Next> button.
(6) Make sure that the development PC is connected to the Manipulator with a USB cable
and Click the <Next> button.
(7) Check the current firmware version and the new firmware version and click the
<Install> button.
(8) The firmware upgrade starts. It takes several minutes to complete.

(9) The data file will continue to be transferred.
(10) The following dialog appears.

Click the <Next> button to reboot the Manipulator.
(11) The following dialog appears after the Controller reboot.

Click the <Finish> button.
The firmware upgrade is complete.
NOTE When you install the firmware (Ver.7.4.0.2 or later) on the controller which the firmware
 (before Ver.7.4.0.2) has been installed, the following message is displayed.
When the message is displayed, re-install the firmware.

6.3 Manipulator Recovery

If the Manipulator becomes inoperable, use the procedures described in this section to
recover.
NOTE Controller Backup is recommended for easy recovery of the Controller operation. For details
 of Controller Backup, refer to “5. Backup and Restore”.

6.4 Firmware Initialization Procedure

The firmware initialization procedures are described in this section.
■ DO NOT unplug the USB cable, or turn OFF the Manipulator or the
development PC during upgrade of the firmware. Doing so may result in
CAUTION malfunction of the robot system.
(1) Connect the development PC and the Manipulator with a USB cable.
(the firmware cannot be changed with an Ethernet connection.)
(Do not start the development software EPSON RC+ 7.0 until the firmware upgrade is
completed.)
(4) Execute “CtrlsetupT.exe”.
(5) Select the <Initialize> option button and click the <Next> button.
(6) Make sure that the development PC is connected to the Controller with a USB cable
and Click the <Next> button.
(7) Check the version information and click the <Install> button.

(8) Firmware and data file transfer starts. It takes several minutes to complete.
(9) The following dialog appears.

Click the <Next> button to reboot the Manipulator.
(10) The following dialog appears after the Controller reboot.

The firmware upgrade is completed.
Start EPSON RC+ 7.0 and restore the Controller settings.

For details of Controller Backup, refer to “5. Backup and Restore”.
NOTE When you install the firmware (Ver.7.4.0.2 or later) on the controller which the firmware
 (before Ver.7.4.0.2) has been installed, the following message is displayed.
When the message is displayed, re-install the firmware.

6.5 Adding Confirmation Steps by Strengthening Security of

EtherNet Connection
From the following firmware version password authentication is required when connecting
Controllers and PCs to a global accessible network.
F/W: Ver.7.4.58.x
In the following cases, connections of EtherNet (PC) connector and Remote Ethernet are
not available.
Controller IP address is set to global IP address
Firmware version is Ver.7.4.58.x or later
EPSON RC+7.0 is Ver.7.4.7 or before
When the Controller firmware is updated under the following conditions, additional steps to
confirm whether to continue the firmware update may be execute depending on the
configuration settings of the Controller. (step 3 or later shown below)
Controller IP address is set to global IP address
Firmware version to be installed is 7.4.8.x or later
The following describes the steps to confirm whether to continue the firmware update.

(2) Execute “CtrlsetupT.exe”.
(3) Controller Setup window is displayed.
Select the <Upgrade> option button and click the <Next> button.

(4) Step 2 window is displayed.

Click the <Next> button.

(5)-1 When the steps to confirm whether to continue the firmware update is not
executed:
Step 3 window is displayed.
Follow the instructions on the window and install the firmware.
(5)-2 When the steps to confirm whether to continue the firmware update is executed:
The following window is displayed.
When the <I understand the contents> button is selected, the <OK> button will be
enabled.
When the <OK> button is clicked, Step3 window is displayed. Go to the step (6).
When the <Cancel> button is clicked, Step3 window is displayed. The [Disable
connection password] check box and the <Install> button will be grayed out and
cannot be selected.

(6)-1 If the [Disable connection password] check box is selected, connection

authentication after updating the firmware is disabled.
(6)-2 If the <Install> button is clicked, the confirmation window is displayed.
When the [Disable connection password] check box is selected:
When the [Disable connection password] check box is not selected:
When the <OK> button is clicked, Step 4 window is displayed. Go to the step (7).
When the <Cancel> button is clicked, the window is closed.
(7) Firmware installation starts.
When the firmware is installed, click the <Next> button. Reboot the Controller.

(8) When the Controller is rebooted, the following window is displayed.

Confirm that the firmware is installed.

T3-B T6-B Maintenance 7. Covers
7. Covers
All procedures for removing and installing covers in maintenance are described in this
chapter.
■ Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors with the
power ON is extremely hazardous and may result in serious bodily injury as the
Manipulator may move abnormally, and also may result in electric shock and/or
malfunction of the robot system.
WARNING related equipment, and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
■ Be careful not to get any foreign substances in the Manipulator, connectors, and
pins during maintenance. Turning ON the power to the robot system when any
foreign substances exist in them is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.

T3-B
User Plate
Arm Top Cove
Power Unit Cover
Connector Plate
Arm Bottom Cover
Base Side Cover
Power Cable Cover
T6-B
User Plate
Arm Top Cove
Power Unit Cover Arm Bottom Cover

Connector Plate
Power Cable Cover

7.1 Arm Top Cover

■ Do not remove the arm top cover forcibly. Removing the cover forcibly may result
in damage to the cables, disconnection, and/or contact failure.
■ When installing the cover, be careful not to allow the cables to interfere with the
cover mounting and do not bend these cables forcibly to push them into the cover.
CAUTION Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. When routing the cables, observe the cable locations after
removing the cover. Be sure to place the cables back to their original locations.
T3-B: 6-M4×8 Sems

4-M4×12
Sems T6-B: 4-M4×8 Sems
Arm Top Cover
Arm Top Cover Unscrew the arm top cover mounting bolts, and then lift the cover.
Removal NOTE
Be careful of user wires and tubes when removing the cover.

Arm Top Cover Put the arm top cover to the arm and secure with the arm top cover mounting bolts.
Installation After securing the arm top cover, make sure that the lower limit mechanical stop is not
touching the cylindrical part of the arm top cover.
NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
 Socket Head Cap Bolts”.

7.2 Arm Bottom Cover

Arm Top Cover
T3-B: 3-M4×12 Sems

T6-B: 4-M4×12
Unscrew the arm bottom cover mounting bolts and then remove the cover.
NOTE Be careful of the end effector. When the end effector is installed, the arm bottom cover
 may not be removed from the shaft.
When you replace the ball screw spline unit, you need to remove the end effector to
remove the arm bottom cover completely.
When you can work (maintenance, inspection) without removing the cover completely,
move the shaft to the lower limit and lower the arm bottom cover.
NOTE
 For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon Socket
Head Cap Bolts”.
7.3 Power Cable Cover
Power Cable 2-M4×8

Cover Sems
Unscrew the power cable cover mounting bolts and then remove the power cable cover.

7.4 Connector Plate

■ Do not remove the connector plate forcibly. Unnecessary strain on cables may
result in damage to the cables, disconnection, and/or contact failure.
■ When installing the connector plate, be careful not to allow the cables to interfere
with the plate mounting and do not bend these cables forcibly to push them into
the cover. Unnecessary strain on cables may result in damage to the cables,
CAUTION
disconnection, and/or contact failure. When routing the cables, observe the cable
locations after removing the cover. Be sure to place the cables back to their
original locations.
T3-B: 2-M4×6 Truss

+ 4-M4×10
T6-B: 4-M4×10 Hexagon socket head button bolt
Connector
Plate
M4×8 Sems
(For Clamps Fixing)
Connector (1) Remove the Power Cable Cover.

Plate Reference 7.3 Power Cable Cover
Removal
(2) Remove power cable clamp and then remove power cable connector.
NOTE
When removing the power cable connector, pull it out with pushing clips on both side
 of the connector.
(3) Unscrew the power cable cover mounting bolts and then remove the power cable cover.
NOTE

NOTE
Some fixed bolts are the same as power unit cover fixing bolts.
 Position of the fittings and size of the connector plate are different between T6-B and
T3-B. Position and size of screws is the common. The above illustration is T3-B.

Connector Plate (1) Put the connector plate to the base and secure using the mounting bolts.
Installation Hexagon socket head cap button bolt
Tightening torque: 2.0± 0.1 N·m

(2) Connect power cable connector and install power cable clamp.
(3) Mount the power cable cover.
Reference 7.3 Power Cable Cover
NOTE When installing the connector plate, be careful of the

 following.
Prevent the air tube from bending sharply inside the
manipulator. Also, do not block the air flow.
If there is a kink in the air tube, air flow is blocked while the
manipulator is operating and may cause a trouble.

7.5 Power Unit Cover

T3-B
8-M4×6 Truss
Power Unit Cover
NOTE
 Unscrew the power unit cover mounting bolts, and then remove the power unit cover.
Some fixed bolts are the same as power unit cover fixing bolts.
T6-B
8-M4×10 Binding head screws
Power Unit Cover
NOTE Unscrew the power unit cover mounting bolts, and then remove the power unit cover.
 After unscrewing the bolts, make sure to pull the power unit cover to the front of the robot
and remove it.

7.6 Base Side Cover

■ Do not remove the base side cover forcibly. Unnecessary strain on cables may
result in damage to the cables, disconnection, and/or contact failure.
■ When installing the base side cover, be careful not to allow the cables to interfere
with the plate mounting and do not bend these cables forcibly to push them into
the cover. Unnecessary strain on cables may result in damage to the cables,
CAUTION
locations after removing the cover. Be sure to place the cables back to their
original locations.
T3-B
4-M3×5 Hexagon socket head cap button bolt
Base Side Cover
Unscrew the base side cover mounting bolts, and then remove the base side cover.
T6-B
NOTE
 There is no base side cover.

7.7 User Plate

■ Do not remove the user plate forcibly. Removing the user plate forcibly may result
in damage to the cables, disconnection, and/or contact failure.
■ When installing the user plate, be careful not to allow the cables to interfere with
the plate mounting and do not bend these cables forcibly to push them into the
cover. Unnecessary strain on cables may result in damage to the cables,
CAUTION
locations after removing the connector plate. Be sure to place the cables back to
their original locations.
T6-B
T3-B
2-M4×10
2-M4×10
User (1) Remove the arm top cover.

Plate
Reference 7.1 Arm Top Covers
Removal
(2) Cut off the wire tie binding the brake
cable and then remove the connector of
Joint #3
break release switch. Motor Joint #2
Motor
Brake
Cable
(3) Unscrew the user plate mounting bolts and remove the plate.
User (1) Put the user plate to the arm and secure using the mounting bolts.
Plate
Installation (2) Bind the internal cables with a wire tie as worked in the removal procedure (2).
(3) Mount the arm top cover.
Reference 7.1 Arm Top Covers
NOTE
For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon Socket
 Head Cap Bolts”.

T3-B T6-B Maintenance 8. Cable
8. Cable
■ Do not connect or disconnect the connectors while the power to the robot system
is turned ON. Connecting or disconnecting the motor connectors with the power
ON is extremely hazardous and may result in serious bodily injury as the
WARNING
■ Be careful not to get any foreign substances in the Manipulator, connectors, and
pins during maintenance. Turning ON the power to the robot system when any
foreign substances exist in them is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.
forcibly.) Unnecessary strain on cables may result in damage to the cables,
CAUTION disconnection, and/or contact failure.

8.1 Replacing Cable Unit

Name Quantity NOTE
Maintenance T3-B: 2207936
Cable Unit 1
part T6-B: 2207939
Width across flats: 2 mm 1 For M3 button bolt
Hexagonal For M3 screw,
Width across flats: 2.5 mm 1
wrench M4 button bolt
Width across flats: 3 mm 1 For M4 screw
Spanner Width across flats: 5 mm 1
Tools Hand I/O connector removal
Nut screwdriver Width across flats: 5 mm 1
Spanner Width across flats: 41 mm 1 Removal
Torque wrench 1
Cross-point screwdriver (No. 2) 1 For cross-recessed screw
Nippers 1 For cutting wire tie
Wire tie -
Material
adhesive - LOCTITE268
Cable Unit
(Illustration: T3-B 401S)

■ If the connectors have been disconnected during the replacement of the cable unit,
be sure to reconnect the connectors to their proper positions. Improper connection
of the connectors may result in improper function of the robot system.
For details on the connections, refer to “3. Manipulator Structure”.
■ When installing the cover, be careful not to allow the cables to interfere with the
cover mounting and do not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
CAUTION and/or contact failure. When routing the cables, observe the cable locations after
removing the cover. Be sure to place the cables back to their original locations.
forcibly.) Unnecessary strain on cables may result in damage to the cables,
disconnection, and/or contact failure.
NOTE A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to
 the weight of the end effector while the power to the Manipulator is OFF or while the motor
is in OFF status (MOTOR OFF).
Refer to removal steps (1) to (3) to move the shaft down to its lower limit before the
replacement procedure.

Cable Unit (1) Turn ON the Manipulator and change the motor to OFF status (MOTOR OFF).
Removal
(2) Press and hold the brake release switch to let the shaft down. Be sure to keep enough
space and prevent the end effector hitting any peripheral equipment.
The brake release switch affects only Joint #3. When the brake release switch is pressed,
the Joint #3 brake is released.
Be careful of the shaft falling while the brake release switch is being pressed because
the shaft may be lowered by the weight of the end effector.
(3) Turn OFF the Manipulator.
(4) Remove the power unit cover.
Reference: 7.5 Power Unit Cover
(5) Remove the ground wire that secured on the case side cable fixing plate.
(6) Cut off the wire tie binding the cables in the Base side.
(7) Remove the connector plate.
Reference: 7.4 Connector Plate
(8) Remove the following parts that connected to the connector plate (inside).
Air tube
TP connector
(9) T3-B : Remove the base side cover.
Reference: 7.6 Base Side Cover
T6-B : Remove the connector of regenerative resistor

junction cable.
Unscrew the mounting bolts of the joint #1 AMP
board plate and the regenerative resistor plate.
Mounting bolts: 4-M4×8 Sems
(10) Remove the connector of AMP board. T3-B/T6-B

A B
A: Power cable connector
B: Signal cable connector
C: Motor connector
C

(11) Unscrew CPU/DPB board mounting screws.

Hexagon socket head cap button bolt: 5-M3×5
Remove CPU/DPB board from a base.

NOTE Radiation sheet is attached on the back of CPU/DPB CPU/DPB
 board. Be careful not to lose or break it.

Board
(12) Remove the CPU/DPB board connector. T3-B

D
E
A: Power connector (IN/OUT ×1 for each) B
B: Power cable connector (×1)
C: Signal cable connector
H
D: Hand I/O connector

E: LED connector
F: Regenerative resistor 1 (T6-B only) C
G: Regenerative resistor 2 (T6-B only) A-OUT A-IN

H: Battery connector T6-B D
E
NOTE Remember the cable layout for reconnecting the B
 cables correctly after replacement.
H F
G
A-OUT A-IN
(13) Remove the arm top cover.

Reference: 7.1 Arm Top Cover
(14) Remove the user plate.
Reference: 7.7 User Plate

(15) Remove the connector of the Joint # 2, 3, 4 motor unit and

the connector of the AMP board. OUT
Motor Unit
Signal cable connector (IN/OUT ×1 for each) IN
NOTE Signal cable for joint #4 is IN only.
 AMP board unit

Power cable connector (×3)
(16) Disconnect the Hand I/O cable and air tube from the user plate.
NOTE Mounting screws for the Hand I/O cable are very small.
 Be sure to keep the screws.
Press the ring on the fittings to pull out the air tube. (ø6×2, ø4×1)
Remember the cable layout for reconnecting the cables correctly after replacement.
(17) Remove the ground wire that secured on the user plate.
(18) Cut off the wire tie binding the cables in the arm side.
(19) Remove the nut that secures the cable duct fittings to the user plate
and pull out the cables from the user plate.
(19) User Plate side nut (20) Motor Box side nut
(20) Remove the nut that secures the cable duct fittings to the motor box.

Cable Unit (1) Pass the new cables through the base, cable fixing
Fitting Duct
Installation plate, and nut, and turn the fittings to secure the Screw
cables.
Apply adhesive to the screw of duct fittings.
Tighten the nut to fix.
(2) Pass the cables in the user plate side through the user
Fitting Duct
plate and nut and turn the fittings to secure the cables. Screw
Apply adhesive to the screw of duct fittings.
Tighten the nut to fix.
(3) Connect the following parts to the inside of the user plate.
Air tube
Hand I/O cable
(4) Connect the connector of the Joint # 2, 3, 4 motor

unit and the connector of the AMP board.
OUT
Motor Unit
Signal cable connector (IN/OUT ×1 for IN
each)
NOTE
Signal cable for joint #4 is IN only.
 AMP board unit
Power cable connector (×3)
(5) Mount the user plate.

(6) Connect the ground wire on the arm side to the user plate.
(7) Bind the cables with a wire tie as removed in the removal step (18).
(8) Connect the ground wire on the base side to the cable fixing plate on the base side.

(9) Connect CPU/DPB board connector. T3-B

D
E
D: Hand I/O connector H
E: LED connector
F: Regenerative resistor 1 (T6-B only)
G: Regenerative resistor 2 (T6-B only) C
H: Battery connector
A-OUT A-IN
T6-B D
E
B
H F
G
A-OUT A-IN
(10) Mount CPU/DPB board to base.

Tightening torque: 0.45± 0.1 N·m
Attach the radiation sheet on the back side of the CPU/DPB

Board
NOTE CPU/DPB boards when mounting.

(11) Connect the following parts to the inside of the connector plate.
Air tube
TP connector
(12) Connect the AMP board connector.

A: Power cable connector A B
C: Motor connector
C

(13) T3-B : Mount base side cover.

T6-B : Mount the joint #1 AMP board plate and the

regenerative resistor plate.
Connect the connector of regenerative resistor
junction cable.
Mounting bolts: 4-M4×8 Sems
(14) Bind the cables with a wire tie as removed in the removal step (6).
(15) Place and secure the arm top cover without the cables being stuck.
(16) Mount the power unit cover.

(17) Mount the connector plate.


8.2 Insert or Pull out of Power Cable

Name Quantity NOTE
Cross-point screwdriver For cross-recessed
Tools 1
(No. 2) screw
Power Cable
Power Cable (1) Turn OFF the Manipulator.

Removal
(2) Remove the power cable cover.
Reference: 7.3 Power Cable Cover
(3) Remove power cable clamp.
Remove power cable connector.
NOTE
When removing the power cable connector, pull it out with pushing clips on both side
 of the connector.
Power Cable (1) Connect power cable connector and install power cable clamp.
Installation
(2) Mount the power cable cover.
Reference: 7.3 Power Cable Cover

T3-B T6-B Maintenance 9. Joint #1
9. Joint #1
WARNING connect it directly to a factory power source.
■ Be careful not to apply excessive shock to the motor shaft when replacing the
motors. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
CAUTION ■ Never disassemble the motor and encoder. A disassembled motor and encoder
will cause a positional gap and cannot be used again.
system.
these origins.
Refer to “17. Calibration” to execute the calibration.
T3-B T6-B
Joint #1 Reduction Joint #1 Reduction

Gear Unit Gear Unit
Joint #1 Motor Joint #1 Motor

9.1 Replacing Joint #1 Motor

Name Quantity Note
200W 1 T3-B: 2207934
Motor
300W 1 T6-B: 2207937
Between reduction gear units T3-B: 1213266
1
and Arm #1 T6-B: 1510528
Maintenance Between reduction gear units T3-B: 1868478
O-ring 1
parts and flange T6-B: 1868480
T3-B: 1709549
Between motor and flange 1
T6-B: 1520371
T3-B: 1875189
Elliptic cam positioning jig 1
T6-B: 1875190
For M4 set screw
Width across flats: 2 mm 1
For M3 button bolt
Hexagonal For M3 screw
Width across flats: 2.5 mm 1
wrench For M4 button bolt
Tools Width across flats: 3 mm 1 For M4 screw
Torque wrench 1
Wiping cloth 1 For wiping grease
Grease Grease SFB No.1 -
Joint #1 motor (1) Turn OFF the Manipulator.

Removal
(4) Remove the following parts that connected to the connector plate (inside).
Air tube
TP connector
(5) T3-B: Remove the base side cover.
T6-B: Remove the AMP board plate of joint #1.

2-M4×8 Sems

(6) Remove the connector of AMP board. A B

C: Motor connector C
(7) Remove the AMP board. T3-B

3-M3×6 Sems AMP board
NOTE Radiation sheet is attached on the back side of the
 AMP board. Be careful not to lose or break it.
T6-B
AMP board
T6-B: Disconnect the connector of regenerative

resistor junction cable. Then, remove the
regenerative resistor fixing plate.
2-M4×8 Sems


NOTE Radiation sheet is attached on the back of CPU/DPB

CPU/DPB
board. Be careful not to lose or break it. board


D
E
E: LED connector
A-OUT A-IN
T6-B D
E
NOTE Remember the cable layout for reconnecting the

B
cables correctly after replacement.
H F
G
A-OUT A-IN
(10) Remove the connector of the Joint #1 motor unit.

Signal cable connector (IN/OUT ×1 for each)
IN OUT
(11) T3-B: Remove the power board cover.

T6-B: Remove the LED board connector.

A
A: LED - LED board connector
Cut off the wire tie binding the internal cables.

Then, remove the top board.
(12) Unscrew the Power unit mounting screws.

T3-B: 3-M4×10
T6-B: 4-M4×10
Remove power unit from the base.
(13) Remove the Arm #1 mounting bolt in the Joint #1

side and remove the arm. A
B
T3-B: A: 8-M3×30
B: 4-M3×15
T6-B: A: 8-M4×40
B: 4-M3×20 O-ring
NOTE There is an O-ring between the reduction gear units
Reduction gear unit
 and Arm #1.
Be sure not to lose the O-ring.
(14) Remove the screws mounting the Joint #1 flange

on the base.
T3-B: 8-M4×15
T6-B: 6-M5×15
Remove the Joint #1 motor unit from the base.

NOTE When removing the Joint #1 motor unit, pull it up
 slowly to avoid hitting the base.

(15) T3-B : Loosen the motor mounting screws on the T3-B

Joint #1 flange and remove the motor unit.
4-M4×15+small washer
O-ring
NOTE
There is an O-ring between the Joint #1 flange
 and the motor.

Joint #1 motor unit
T6-B : Remove the motor mounting screws and T6-B

the washer on the Joint #1 flange. Joint #1
motor
4-M4×12+small washer unit
4-M4×12
+small
washer
Unscrew the reduction gear units mounting T6-B

screws on the Joint #1 flange.
NOTE Joint #1
 Rotate the motor around the shaft so that the motor

unit
reduction gear units mounting screws are
M4ｘ22
visible, then operate.
16-M4×22
Mount the motor mounting screws. T6-B

4-M4×12+small washer Joint #1
motor
unit
Remove the reduction gear units from the
flange which the motor is mounted. M4ｘ12
+small washer
NOTE There is an O-ring between the Joint #1 flange
 and the reduction gear units.

O-ring
Reduction
gear unit

(16) Remove the elliptic cam bearing from the T3-B Elliptic cam bearing
Joint #1 motor. A: Brass bushing
There is a brass bushing in one of the set

B:Set screw
screw holes. Be sure not to lose the bushing.
T3-B: A: Brass bushing M4
B: Set screw 2-M4×6
Joint #1
motor
T6-B: A: Brass bushing M5

T6-B
B: Set screw 2-M5×6 Elliptic cam bearing
A: Brass bushing
B:Set screw
Joint #1
motor
(17) T6-B : Unscrew the motor mounting screws. T6-B

Joint #1 flange
Then, remove the Joint #1 flange and
O-ring.
4-M4×12+small washer Small washer
4-M4×12
NOTE There is an O-ring between the Joint #1
 flange and the motor.
Joint #1
motor

Joint #1 motor
Installation NOTE

Head Cap Bolts”.
(1) T6-B : Set the O-ring (between the motor and T6-B
Joint #1 flange
the flange) on the motor mounting
surface, and mount the joint #1 flange.
4-M4×12+small washer Small washer
Tightening torque: 2± 0.2 N·m 4-M4×12
Joint #1
motor
(2) T6-B : Apply grease between the motor T6-B

and the elliptic cam bearing.
Grease volume: SFB-No.1: 16g
Joint #1
motor
Apply grease
NOTE Be careful of the flange notch and motor position when mounting the flange.
 To insert the motor, turn it slowly from side to side by hand and push in.
Replace O-ring to new one if there is swelling, scratch, or wear.
(3) Mount the elliptic cam bearing on the motor.

Mount the bearing so that the end faces of the elliptic cam bearing and the motor shaft
have the following dimensions.
T3-B: 4 mm
T6-B: 0 mm
Be careful of the direction of the elliptic cam bearing.

T3-B T6-B Set screw is on the edge side
Set screw is on the edge of the motor shaft
side of the motor shaft Align the end faces of
Clearance the mot or shaft and
between the elliptic cam
end faces is
4mm
Joint #1 Joint #1
motor motor

When using the elliptic cam positioning jig, mount the jig and temporarily secure it.
Secure so that the screw head lightly touches the jig.
T3-B T6-B Elliptic cam
Elliptic cam positioning jig
positioning jig
Screw Screw Screw Screw
NOTE
 The jigs for T3-B and T6-B have different dimensions. Be careful of the dimensions.
(4) Secure the elliptic cam bearing by the set screw. T3-B Elliptic cam bearing
A: Brass bushing
T3-B:
A: Brass bushing : M4
B: Set screw
B: Set screw : 2-M4×6
Tightening torque: : 2.5 ± 0.15 N·m
Joint #1
motor
T6-B: T6-B
Elliptic cam bearing
A: Brass bushing : M5
A: Brass bushing
B: Set screw : 2-M5×6
Tightening torque: : 4 ± 0.2 N·m B: Set screw
Joint #1
motor
NOTE Tighten one of the set screws on the flat face of the motor shaft until the screw just
 touches the surface. Insert a bushing into the other set screw hole to prevent damage
to the motor shaft. Then, tighten both set screws.
When using the elliptic cam positioning jig, unscrew the temporarily securing screws
and remove the elliptic cam positioning jig.
■ Refer to the figure above for the orientation of the elliptic cam bearing. Be sure to
mount the elliptic cam bearing properly.
Improper mounting of the elliptic cam bearing will result in improper function of the
CAUTION Manipulator.

(5) T3-B : Apply grease between the motor and the elliptic cam bearing.
Grease volume: SFB-No.1: 4g
T3-B
Apply grease
T3-B
Joint #1
Apply grease motor
Joint #1 motor
(6) T6-B : T6-B

Mount the O-ring (between the reduction Groove
gear units and the flange) to the grooves on O-ring

the internal gear.
NOTE Make sure that the O-ring does not come

 out of the grooves.
Replace O-ring to new one if there is
swelling, scratch, or wear.
Place the reduction gear units on the table, T6-B

and mount the motor unit with the Joint #1 Joint #1
motor unit
flange to the reduction gear units from
upper side. M4ｘ12
+small washer
O-ring
Reduction
gear unit
Unscrew the motor mounting screws. T6-B

4-M4×12+small washer Joint #1
motor unit
M4ｘ12
+small washer

Mount the reduction gear units mounting

screws.
T6-B
Rotate the motor around the shaft so that
the reduction gear units mounting screws Joint #1
are visible, then operate. motor unit
T6-B: 16-M4×22 M4ｘ22
Loosely fasten all bolts in a crisscross

pattern so that the bolts will be fastened
evenly.
Then, using a torque wrench, tighten each
bolt securely in a crisscross pattern at the
torque specified in the table below.
Name Model Bolt type Bolts Tightening torque
Joint #1 reduction gear units T6-B M4×25 16 5.5 ± 0.25 N⋅m
NOTE
 Be careful not to apply too much force since it may damage the parts.
(7) T3-B : Set the O-ring (between the motor and T3-B
the flange) on the motor mounting
surface, and temporarily secure the
motor unit on the Joint #1 flange. O-ring
4-M4×15+small washer
NOTE Be careful of the direction of the motor. Align

 the orientation of the motor board with the
alignment dent in the flange. Joint #1
motor unit
NOTE Secure temporarily the screws.
 After this, an alignment of the reduction gear Motor board

units are performed.
(Secure so that the screw head lightly touches Alignment dent
the flange base.)
T6-B: Mount the motor mounting screws. T6-B

Joint #1
4-M4×12+small washer motor unit
NOTE Be careful of the direction of the motor.

M4ｘ12
Align the orientation of the motor board +small washer
with the alignment dent in the flange.
NOTE
Secure temporarily the screws.
 After this, an alignment of the reduction
Align the orientation
gear units are performed. of the motor board
(Secure so that the screw head lightly with the dent
touches the flange base.)

(8) Perform an alignment of the reduction gear

units.
Mount the supplied screws for alignment (×2) T3-B
Screw
on the reduction gear units. for alignment
2-M3×30
Grab the alignment screws by hand and rotate

the elliptic cam bearing three times clockwise. Motor
mounting
Then, rotate three times counterclockwise. screw
(9) Tighten the motor mounting screws which Joint #1

motor unit
secured temporarily to secure the motor.
T6-B Screw
Loosely fasten all bolts in a crisscross pattern so for alignment
that the bolts will be fastened evenly.
T3-B: 4-M4×15+small washer
T6-B: 4-M4×15
Then, using a torque wrench, tighten each bolt

Joint #1
securely in a crisscross pattern at the torque motor unit
specified below.
Tightening torque:
M4: 5.5 ± 0.25 N·m
(10) After mounting the motor, unscrew the supplied screws for alignment (×2) from the
reduction gear units.
2-M3×30
End face of
(11) Apply grease to the inside of the flex gear.
elliptic cam
Grease bearing
Apply grease to the same height as the end face
of the elliptic cam bearing.
Grease volume T3-B: SFB No.1: 13 g

T6-B: SFB No.1: 16g
(12) Mount the Joint #1 unit to the base.

Secure the Joint #1 motor cables facing toward the back of the base.
(13) Set the O-ring (between reduction gear units and Arm #1) removed in the removal
step (10) into the O-ring groove of the arm.
Replace O-ring to new one if there is swelling, scratch, or wear.

(14) Mount the arm to the Joint #1 unit.

Loosely fasten all bolts in a crisscross pattern so
that the bolts will be fastened evenly.
A
T3-B: A: 8-M3×30
B
B: 4-M3×15
T6-B: A: 8-M4×40
B: 4-M3×20
O-ring
Then, using a torque wrench, tighten each bolt
securely in a crisscross pattern at the torque Reduction
specified below. gear unit
Tightening torque:
M3: 2.5 ± 0.15 N·m
M4: 5.5 ± 0.25 N·m
(15) Mount the power unit to the base.
(16) T3-B: Mount a cover of power board.
T6-B: Mount the top board of the power unit.
Hexagon socket head cap button bolt: 4-

M4×10
Tightening torque: 2.0 ± 0.1 N·m
Bind the internal cables with a wire tie as

removed in the removal procedure (11).

(17) Connect the LED board connector.

A
(18) Connect the connector of Joint #1 motor unit.

Signal cable connector (IN/OUT ×1 for each)

D
E
E: LED connector
A-OUT A-IN
T6-B D
E
B
H F
G
A-OUT A-IN

NOTE
Attach the radiation sheet on the back side of the
 CPU/DPB boards when mounting.
CPU/DPB
board
(21) Mount the AMP board.

NOTE
Attach the radiation sheet on the back side of the AMP board.


(22) Connect the AMP board connector. T3-B / T6-B

A B
C: Motor connector
C
(23) T3-B: Mount the base side cover.

T6-B: Mount the Joint #1 AMP board plate.
Air tube
TP connector
(25) Mount the Power unit cover.
Reference: T-B series Manual T3-B T6-B Manipulator 6.5 LED
NOTE
 DO NOT turn OFF the power until the Manipulator starts.

When you connect a motor unit connected to another axis, an error 5009 or 9709
will occur. To clear the error, enter the following command in [Command Window]
and execute it.
Joint #1: > MUIDReset 1
Reboot the Controller.
(28) Perform the calibration for the Joint #1.
Reference: 17. Calibration

9.2 Replacing Joint #1 Reduction Gear Units

A reduction gear unit consists of the following three parts. When replacing the reduction
gear units, be sure to always replace the elliptic cam bearing, flex gear, and internal gear all
together as one set.
For details of the parts, refer to “19. Maintenance Parts List”.
Name Quantity Note

1 T3-B: 1829508 Set of reduction gear units
Maintenance
Reduction Gear Units and elliptic cam
part 1 T6-B: 1829509
positioning jig
Width across
1 For M4 set screw
flats: 2 mm
Hexagonal Width across
1 For M3 screw
wrench flats: 2.5 mm
Width across
1 For M4 screw
Tools flats: 3 mm
Torque wrench 1
Nippers 1
Spatula 1 For applying grease
1 For wiping grease (Flange)
Wiping cloth
1 For wiping grease (Bolt)
Joint #1 (1) Remove the Joint #1 motor unit.

Reduction
Reference: 9.1 Replacing Joint #1 Motor “Removal procedure”
Gear Unit
Removal For T6-B, remove the Joint #1 motor and the reduction gear units from the flange.
T3-B
(2) T3-B:
Remove the reduction gear units from the Joint #1
flange. Flange
T3-B: 10-M3×20
Reduction
gear unit

Joint #1 (1) A new reduction gear unit contains the Internal gear + Flex gear
Reduction + Cross roller bearing unit
parts shown in the picture on the right
Gear Unit
when it is unpacked. Elliptic cam
Installation O-ring bearing
The internal gear, tooth grooves of the flex
gear, and the elliptic cam bearing are pre-
greased.
Wipe grease if it is attached to the

mounting surface of the internal gear.
Mounting surface of internal gear
(2) T3-B : Unscrew the temporarily T3-B

Temporarily securing screws
securing screws (M3×4) of the
M3ｘ4
internal gear.
NOTE T6-B : Do not unscrew the securing DO NOT unscrew
 screws (M3×4) of the internal

gear.
T6-B
the securing screws
M3ｘ4
■ Never adjust (loosen or tighten) the mounting bolts between the flex gear and
cross roller bearing unit.
If the bolts are adjusted, it requires centering of the parts by the reduction gear
unit manufacturer.
CAUTION
DO NOT loosen these four bolts

(3) Mount the O-ring (between the reduction 溝

gear units and the flange) to the grooves on
the internal gear.
Make sure that the O-ring does not come

out of the grooves.
(4) T3-B: Secure the flange on the reduction gear

units. T3-B
T3-B: 10-M3×20
Flange
Loosely fasten all bolts in a crisscross pattern so
that the bolts will be fastened evenly. Reduction
Then, using a torque wrench, tighten each bolt gear unit
securely in a crisscross pattern at the torque
specified in the table below.
Name Model Bolt type Bolts Tightening torque
T3-B M3×20 10 2.5 ± 0.15 N⋅m

Joint #1 reduction gear units
T6-B M4×25 16 5.5 ± 0.25 N⋅m
NOTE
 Be careful not to apply too much force since it may damage the parts.
(5) T3-B: Mount the Joint #1 motor.

Reference: 9.1 Replacing Joint #1 Motor “Installation procedure”
T6-B: Mount the Joint #1 reduction gear units and the motor.

10. Joint #2
damage them.
system.
these origins.
T6-B
T3-B
Joint #2, 3, 4
Joint #2, 3, 4 AMP Board Unit Joint #2
AMP Board Unit Joint #2 Motor
Motor
Joint #2 Reduction
Joint #2 Reduction Gear Unit
Gear Unit


Name Quantity Note
100W 1 T3-B: 2207935
Motor
200W 1 T6-B: 2207938
Maintenance Between reduction gear T3-B: 1868478
O-ring 1
part units and Arm #2 T6-B: 1868479
T3-B: 1875189
Elliptic cam positioning jig 1
T6-B: 1875190
Hexagonal Width across flats: 2 mm 1 For M4 set screw
wrench Width across flats: 3 mm 1 For M4 screw
Cross-point
Tools No.2 1 For cross-recessed screw
screwdriver
Torque wrench 1
Wiping cloth 1 For wiping grease
NOTE
A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to the
 weight of the end effector while the power to the Manipulator is OFF or while the motor is
in OFF status (MOTOR OFF).
Refer to removal steps to move the shaft down to its lower limit before the replacement
procedure.
Joint #2 Motor (1) Turn ON the Manipulator.
Removal
(4) Remove the Arm Top Cover.
(5) Remove the User Plate.
(6) Loosen the mounting screws of the Joint #2, 3, 4 AMP board T3-B
unit, and remove the board unit from Arm #2. Joint #2, 3, 4
AMP Board Unit
2-M3×10 Sems
NOTE
 Do not remove the mounting screws and the connector.

Remove the connector of the Joint #2 AMP board.

D: Motor cable connector
D
(7) Unscrew the screws that mounts the Arm #2 and

the reduction gear unit on the Arm #1, and remove
the Arm #2 and the reduction gear unit from the
Arm #1.
T3-B: A: 8-M3×30+M3 small washer

Reduction
B: 4-M3×15+M3 small washer Gear Unit
Arm #2 O Ring
T6-B: A: 8-M3×32+8-M3 small washer
B: 4-M3×12+4-M3 small washer
There is an O-ring between the reduction gear Arm #1

NOTE
B
 units and Arm #1. A
(8) Unscrew the motor unit mounting screws.

T3-B
T3-B: Motor flange mounting screws
3-M4×12+washer
T6-B: Motor mounting screws

4-M4×12+washer
Remove the Joint #2 motor unit from Arm #2.

To pull out the motor smoothly, move the Arm #2 Joint #2
slowly by hand while pulling the motor. Motor Unit
T6-B
NOTE
T3-B: Remove the motor flange and the motor. Do
 not separate the motor flange and the
motor.
NOTE
 T6-B: There is no motor flange.

Joint #2
Motor Unit
(9) Remove the grease receiver from the elliptic cam M3×6
Washer
bearing on the Joint #2 motor. Collar
2-M3×6+washer+collar Grease receiver
NOTE Elliptic cam
Collars are in the grease receiver.
 Be sure not to lose the collars.
bearing
Joint #2
Motor

(10) Remove the elliptic cam bearing from the Joint Brass Elliptic Cam
Bushing Bearing
#2 motor.
Set
2-M4×6 set screw
Screw
M4 brass bushing
NOTE There is a brass bushing in one of the set screw Joint #2
 holes. Be sure not to lose the bushing. Motor
Joint #2 Motor NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
Installation
(1) Mount the elliptic cam bearing on the Joint #2 motor.
Mount the bearing so that the end faces of the elliptic cam bearing and the motor
shaft have the following dimensions.
T3-B: 8.5 mm
T6-B: 1.5 mm
NOTE
 Be careful of the direction of the elliptic cam bearing.

T3-B Gap 8.5mm T6-B
Gap 1.5mm
Set screw is on the

end of motor shaft
Joint #2
Joint #2 Set screw is on the Motor
Motor end of motor shaft
When using the elliptic cam positioning jig, mount the jig and temporarily secure it.
Secure so that the screw head lightly touches the jig.
T3-B Jig to set the position of T6-B Jig to set the position of
elliptic cam bearing elliptic cam bearing
Screw Screw Screw Screw
NOTE
 The jigs for T3-B and T6-B have different dimensions. Be careful of the dimensions.

(2) Secure the elliptic cam bearing by the set screw.

2-M4×6 set screw Elliptic cam
bearing
M4 brass bushing Brass bushing
Tightening torque: 2.5 ± 0.15 N·m Set screw
NOTE
 Tighten one of the set screws on the flat face of

the motor shaft until the screw just touches the
Joint #2
surface. Insert a bushing into the other set screw motor
hole to prevent damage to the motor shaft. Then,
tighten both set screws.
When using the elliptic cam positioning jig, unscrew the temporarily securing screws
and remove the elliptic cam positioning jig.
■ Refer to the figure above for the orientation of the elliptic cam bearing. Be sure to
mount the elliptic cam bearing properly.
Improper mounting of the elliptic cam bearing will result in improper function of the
CAUTION Manipulator.
(3) Mount the grease receiver to the elliptic cam M3×6

bearing on the Joint #2 motor. Washer
Collar
2-M3×6+washer+collar
Grease receiver
Tightening torque: 1 ± 0.2 N·m
Elliptic cam
bearing
Joint #2
motor
(4) Apply grease.

Grease volume
T3-B: Between the motor flange and the elliptic cam bearing
SFB No.1: 4g
T6-B: Between the motor and the elliptic cam bearing
SFB No.1: 6g
T3-B T6-B
Apply Grease
Apply grease
Joint #2 motor
Joint #2 motor

(5) Secure temporarily the Joint #2 motor unit to Arm T3-B

#2.
T3-B: Motor flange mounting screws
3-M4×12+washer
T6-B: Motor mounting screws
4-M4×12+washer
Joint #2 motor
To insert the motor, slowly move the Arm #2 by unit
hand and push in.
T6-B
NOTE Secure temporarily the screws. Perform an
 alignment of the reduction gear units in the next
step.
Make sure that the screw head lightly touches the
flange base Joint #2
motor unit
(6) Perform an alignment of the reduction gear units.

Joint #2
motor unit
Grab the grease receiver by hand and rotate the
elliptic cam bearing three times clockwise.
Then, rotate three times counterclockwise.
Grease receive
(7) Tighten the motor mounting screws which secured temporarily to secure the motor.
Loosely fasten all bolts in a crisscross pattern so that the bolts will be fastened evenly.
T3-B: Motor flange mounting screws 3-M4×10
T6-B: Motor mounting screws 4-M4×12
Then, using a torque wrench, tighten each bolt securely in a crisscross pattern at the
torque specified below.
(8) Mount Arm #2 and the reduction gear units to Arm

#1.
Mount the O-ring (between the reduction gear units
Reduction
and Arm #1).
Gear Unit
Replace O-ring to new one if there is swelling, Arm #2 O Ring
scratch, or wear.
Arm #1
A B

Tighten screws to mount Arm #2 and the reduction gear units to Arm #1.
T3-B: A: 8-M3×30+M3 small washer
B: 4-M3×15+M3 small washer
T6-B: A: 8-M3×32+8-M3 small washer

B: 4-M3×12+4-M3 small washer
torque specified below.
(9) Mount the connector of the Joint #2 AMP board.

D: Motor cable connector
D
Mount the Joint # 2, 3, 4 AMP board unit to Arm #2. T3-B

2-M3×10 Sems Joint #2, 3, 4
AMP Board Unit

(11) Mount the Arm Top Cover.

NOTE When starting the Manipulator for the first time after replacing the motor unit, the
 motor unit firmware is automatically updated. DO NOT turn OFF the power until the
Manipulator starts.
When you connect a motor unit connected to another axis, an error 5009 or 9709 will
occur. To clear the error, enter the following command in [Command Window] and
execute it.

10.2 Replacing Joint #2 Reduction Gear Units

gear units, be sure to always replace the elliptic cam bearing, flex gear, and internal gear all
together as one set.
For details of the parts, refer to “19. Maintenance Parts List”.
Name Quantity Note

T3-B: 1829508 Set of reduction gear
Maintenance
Reduction gear units 1 units and elliptic cam
part T6-B: 1829510
positioning jig
Width across
1 For M4 set screw
flats: 2 mm
Hexagonal Width across
1 For M3 screw
wrench flats: 2.5 mm
Width across
1 For M4 screw
Tools flats: 3 mm
Torque wrench 1
Spatula 1 For applying grease
1 For wiping grease (Flange)
Wiping cloth
1 For wiping grease (Bolt)
NOTE A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to the
procedure.
Joint #2 (1) Remove Arm #2 and the reduction gear units from Arm #1.
Reduction
gear units
Removal
(2) Remove the elliptic cam bearing from the Joint #2 motor.

Joint #2 (1) A new reduction gear unit contains the Internal gear＋Flex Gear
Reduction parts shown in the picture on the right ＋Cross roller bearing unit
gear units
when it is unpacked. Elliptic
Installation O ring cam bearing
The internal gear, tooth grooves of the flex
gear, and the elliptic cam bearing are pre-
greased.
Wipe grease if it is attached to the

mounting surface of the internal gear.
Internal gear mounting surface
(2) T3-B : Unscrew the temporarily securing T3-B Temporarily securing screws
screws (M3×4) of the internal M3ｘ4
gear.
NOTE
 T6-B : Do not unscrew the securing Do not unscrew the

T6-B
screws (M3×4) of the internal securing screws M3ｘ4
gear.
■ Never adjust (loosen or tighten) the mounting bolts between the flex gear and
cross roller bearing unit.
If the bolts are adjusted, it requires centering of the parts by the reduction gear
unit manufacturer.
CAUTION
Do not loosen or tighten

the 4 mounting bolts

(3) Mount the O-ring to the grooves on the Groove

internal gear. (between reduction gear units
and flange)
Make sure that the O-ring does not come

out of the grooves.
(4) Mount the reduction gear units to Arm

#2.
T3-B: 10-M3×18
T6-B: 16-M3×28
O ring
Arm #2
Reduction
Gear Unit
torque specified in the table below.
Name Bolt type Tightening torque
Joint #2 reduction gear units M3 2.5±0.15N⋅m
NOTE
Be careful not to apply too much force since it may damage the parts.
 (5) Mount the Joint #2 motor.

11. Joint #3
■ Before performing any replacement procedure, turn OFF the Controller and
damage them.
system.
these origins.
T3-B
T6-B
Joint #2, 3, 4 AMP Joint #3 Joint #2, 3, 4 AMP
board unit motor board unit
Joint #3
motor
Joint #3 brake Z belt Joint #3 brake

Z belt


Name Quantity Note
Maintenance
Motor 100W 1 2216544
part
Width across flats: 1.5 mm 1 For M3 set screw and M2 screw
Hexagonal
Width across flats: 2.5 mm 1 For M5 set screw
wrench
Torque wrench 1
Tools
Nippers 1 For cutting wire tie
Force gage 1 Z: Belt tension 69N (7.0±0.5kgf)
Suitable cord (Length about 800mm) 1 For belt tension
For adjusting the pulley securing
Feeler gage (0.5mm) 2
position
Material Wire tie -
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Joint #3 (1) Turn ON the Manipulator.
Motor
(2) Press and hold the brake release switch to let the shaft down. Be sure to keep enough space
Removal
and prevent the end effector hitting any peripheral equipment.
Be careful of the shaft falling while the brake release switch is being pressed because the
shaft may be lowered by the weight of the end effector.
(5) Cut off the wire tie binding the brake

cables. Joint #3
motor
Joint # 2
motor
Brake
cable

(6) T6-B : Cut off the wire tie (×2) binding T6-B
the motor cables of Joint #3. B: Board power cable
(Joint #2, 3 AMP board)
Wire tie for A and B
A: Joint #3 motor
Wire tie for A and C
cable
C: Board power cable

(DPB- Joint #2 AMP board)

(8) Remove the connector of the Joint #3 motor

unit.
A: AMP cable connector (×1) B-OUT B-IN A

(IN/OUT ×1 for each)
(9) Loosen the mounting screws of the Joint #2, 3, T3-B

Joint #2, 3, 4 AMP
4 AMP board unit, and remove the board unit board unit
from Arm #2.
Sems bolt: 2-M3×10
Remove the following connectors from AMP

board unit.
A: Power cable connector (×3)
B
B: AMP cable connector (×3)
C: Motor cable connector (×3)
D: Brake cable connector (×1) D
C
A

(10) Remove the bolt and the washer mounting the T3-B
Joint #3 motor unit.
T3-B: a: 2-M4×15+M4 slotted hole washer b
b: M3×12+M3 slotted hole washer Joint #3
motor unit
T6-B: ab: 3-M4×15+M4 washer
a
NOTE The washer will be necessary again when
 mounting Z belt. Be sure not to lose them.

T6-B
Joint #3
motor unit
(11) Pulley carries the belt. Tilt Joint #3 motor little Pull motor up
and pull it up with avoiding the belt. Then
remove the motor.
Belt
(12) T3-B : Remove the motor plate from Joint #3 T3-B

motor unit.
2-M4×55
2- collar ø7× thickness 4
Joint #3
The collar will be necessary again when motor
mounting motor belt. Be sure not to lose them.
T6-B : Remove the posts and the brake. T6-B
2-M3×50 Joint #3
motor
The posts, brake, and brake plate will be
necessary again. Be sure not to lose them.
Post
Brake
Brake
plate

(13) Loosen the screws of the pulley and brake hub T3-B
and remove them from the Joint #3 motor.
Joint #3
a: M5×8 set screw motor
b: M5×8 set screw+M5 bushing
c: T3-B: M3×3 set screw
T6-B: M3×4 set screw Pulley
d: T3-B: M3×3 set screw+M3 bushing b

T6-B: M3×4 set screw+M3 bushing a
c
e: T3-B: washer d
Brake hub
(external diameter: ø14, internal
diameter: ø8, thickness: 0.5) T3-B
Pulley
e
There is a brass bushing in one of the set
screw holes. Be sure not to lose the bushing. Brake hub
T6-B
NOTE For T3-B only:
 There is a washer between the pulley and the

brake hub. Be sure not to lose the washer.
Joint #3
motor
Pulley
a b
c
d
Brake hub
(14) For T6-B only:

Remove the motor plate from Joint #3 motor T6-B
unit.
2-M4×55
2- collar ø7× thickness 4 Joint #3
motor
NOTE The collar will be necessary again when
 mounting motor plate. Be sure not to lose

them.

Joint #3 NOTE
Motor
Installation
 Head Cap Bolts”.
(1) For T6-B only: T6-B

Mount the Joint #3 motor to the motor plate.
2-M4×55
2- collar ø7× thickness 4
Joint #3
Tightening torque: 4 ± 0.2 N·m motor
When mounting the motor plate, be careful of
NOTE
the positions of the motor plate and the motor.
 (2) T3-B : Mount the pulley and brake hub to the T3-B
Joint #3 motor.
Joint #3
c: M3×3 set screw
Pulley
d: M3×3 set screw+M3 bushing
e: washer b
a
diameter: ø8, thickness: 0.5) c
Brake hub d
Tightening torque:
T3-B
M3 set screw: 0.9 ± 0.1 N·m
0.5
M5 set screw: 4 ± 0.2 N·m
NOTE There is a washer (thickness: 0.5mm) Pulley
 between the pulley and the brake hub. e
Brake hub
Secure the pulley and the motor so T3-B

that the clearance will be 0.5mm.
0.5
NOTE Be sure to make the clearance
 (0.5mm) between the pulley and the

motor.

T6-B : Mount the pulley and brake hub to the T6-B
Joint #3 motor.
Joint #3
c: M3×4 set screw
d: M3×4 set screw+M3 bushing Pulley
Tightening torque: b
a
M3 set screw: 0.9 ± 0.1 N·m c
M5 set screw: 4 ± 0.2 N·m d
Brake hub
Secure the pulley and the motor plate T6-B Joint #3 motor
so that the clearance will be 0.5mm. Motor plate
NOTE Be sure to make the clearance (0.5mm)
0.5
 between the motor plate and the pulley
with mounting the motor plate.
Pulley
Mount the brake hub until it hits the pulley, and secure it at the position where it contacts the
end face of the pulley.
Tighten one of the set screws on the flat face of the motor shaft until the screw just touches
the surface.
Insert a bushing into the other set screw hole to prevent damage to the motor shaft. Then,
tighten both set screws.
(3) T3-B : Mount the Joint #3 motor to the motor T3-B

plate.
2-M4×55 Collar
2- collar ø7× thickness 4 Motor Joint #3

connector motor
Fit the brake disk to the hub.
Post
NOTE When mounting the motor plate, be careful of the positions of the motor plate and the motor.
 Check the direction according to the positional relationship of the motor connector and the
posts.

T6-B : Mount the posts, brake, and brake T6-B

plate to the motor plate.
2-M3×45 Motor Joint #3
cable motor
Fit the brake disk to the hub.
Post
Brake
When mounting the brake plate, be
careful of the direction of the Brake
brake , brake plate, and the motor. plate
Apply the following torque to

secure the plate. Motor
cable
Post
Sloping part of the Brake

brake plate power cable
(4) Mount the motor unit to Arm #2 T3-B
When passing the belt, make sure that the

belt does not out of the pulley.
Mount the motor cables facing to front of
the arm.
Belt
T6-B
Joint #3
motor unit
Motor cable
(5) Secure temporarily the Joint #3 motor unit to Arm #2.

NOTE Check that the motor unit can be moved by hand, and it will not tilt when pulled. If the
 unit is secured too loose or too tight, the belt will not have the proper tension.

(6) Apply the proper tension to the Z belt, and

secure the Joint #3 motor unit. b
T3-B: a: 2-M4×15+M4 slotted hole washer
b: M3×12+M3 slotted hole washer Joint #3
motor unit
T6-B: ab: 3-M4×15+M4 washer a
Pass a suitable cord or string around the

plate hole of the Joint #3 motor unit. Then,
pull the cord using a force gage or similar Z belt
tool to apply the specified tension shown
below.
Z belt tension:
34.5 N (3.5 ± 0.5 kgf) Force gage
Axial force (when pulling):

69.0 N (7.0 ± 0.5 kgf)
Apply the following torque to secure the plate.

M3: 2 ± 0.1 N·m
M4: 4 ± 0.2 N·m
NOTE To check belt tension with the tension meter, refer to the following.
 11.4 Checking the Timing Belt Tension (Z Belt)
(7) Mount the Joint # 2, 3, 4 AMP board unit. T3-B

Joint #2, 3, 4 AMP
Sems bolt: 2-M3×10 board unit
Connect the following connectors to the AMP

board unit.
B
D: Brake cable connector (×1)
D
C
A
(8) Connect the connector of Joint #3 motor unit.

A: AMP cable connector (×1) B-OUT B-IN A
(IN/OUT ×1 for each)


(10)Bind the brake cables with a wire tie as worked in the removal procedure (5).
(11) Bind the motor cable and the AMP board power cable with wire tie (×2) as worked in the
removal procedure (6).
NOTE
Bind the cable and belt apart so that the cable does not touch the Z belt.
 (12) Mount the arm top cover.
NOTE When starting the Manipulator for the first time after replacing the motor unit, the motor
 unit firmware is automatically updated. DO NOT turn OFF the power until the Manipulator
starts.
execute it.
(14) Perform the calibration of Joints #3, #4.

11.2 Replacement of the timing belt

Name Quantity Note
Maintenance Width: 9 mm 1 T3-B: 1554773
Z belt
part Width: 10 mm 1 T6-B: 1563316
Width across flats:
1 For M3 screw
Hexagonal 2.5 mm
wrench Width across flats: 3
1 For M4 screw
mm
Tools
Torque wrench 1
Material Wire tie -
procedure.
Z belt (1) Remove the Joint #3 motor unit.
Removal
Reference: 11.1 Replacing Joint #3 Motor “Joint #3 motor Removal”
(2) Unscrew the spline plate mounting screws. Spline plate

3-M4×12
Holding the spline plate upward, pull out

the Z belt.
Shaft
Z belt
Z belt (1) Pass a new Z belt through the shaft.

Installation
(2) Lower the spline plate with the Z belt placed around the spline plate pulley. Secure
the spline plate with three screws.
Secure temporarily the spline plate on the Arm #2 and move the shaft up and down
several times before securing the spline plate.
(3) Mount the Joint #3 motor unit.
Reference: 11.1 Replacing Joint #3 Motor “Joint #3 motor Installation”

11.3 Replacing the Brake

Name Quantity Note
Maintenance
Solenoid brake unit 1 1875188
part
Width across flats: 2 mm 1 For M2.5 screw
Hexagonal Width across flats: 2.5 mm 1 For M3 screw
Tools
Torque wrench 1
Material Wire tie -
removal steps.
Joint #3 (1) Remove the Joint #3 motor unit.
Brake
Removal
(2) Remove the brake from the brake T3-B
plate.
Sloping part of
2-M3×8 Brake
the brake plate
cable
T6-B
Sloping part of
the brake plate
Brake
cable
Joint #3 (1) Mount the brake on the brake plate.

Brake 2-M3×8
Installation Tightening torque: 2 ± 0.1 N·m
NOTE

Be careful of the direction of the sloping part of the brake plate and the brake cable
when mounting it.
(2) Mount the Joint #3 motor unit and the solenoid brake.

11.4 Checking the Timing Belt Tension (Z Belt)

Name Quantity Note
For details of usage and measurement methods of the tension
Tools Sonic tension meter 1
meter, refer to the instruction manual of the tension meter.
Joint #3 (1) Enter appropriate setting values to the sonic tension meter.
Belt tension Unit weight M
check Width W Span S
Model Belt [g/(1 mm width × 1 m
[mm] [mm]
length)]
T3-B Z belt 1.9 9 127
T6-B Z belt 1.9 10 212
(2) Flip the belt and measure the tension.
NOTE Measurement failure may occur if the

 microphone touches the belt during
measurement.

12. Joint #4
damage them.
■ Do not mount Joint #4 motor unit on the other joints Marking

since specification is different from that of Joint #2 or #3
motor units. Marking is applied on the motor case of
Joint #4 motor.
CAUTION
■ Never disassemble the motor and encoder. A disassembled motor and encoder

system.
these origins.
T6-B
T3-B
Joint #4
Joint #2, 3, 4 AMP
Joint #2, 3, 4 AMP board unit Joint #4
board unit motor
motor
U1 belt U2 belt
U belt


Name Quantity Note
Maintenance
Motor 100W 1 2216545
part
Hexagonal Width across flats: 2 mm 1 For M4 set screw
Torque wrench 1
Tools
Force gage 1 U: Belt tension 69 N (7.0 ± 0.5 kgf)
■ The belt must be installed with proper tension; otherwise the following problems
may occur.
If falling below the lower limit : Jumping of the belt gears (position gap)
CAUTION If exceeding the upper limit : Abnormal noise or vibration (oscillation),
decline in the life of driving parts
removal steps.
Joint #4 (1) Turn ON the Manipulator.
Motor
Removal
NOTE The brake release switch affects only Joint #3. When the brake release switch is pressed,
 the Joint #3 brake is released.


(6) Remove the connector of the Joint #4 motor

unit.
A: AMP cable connector (×1)
B-IN A
(IN only: ×1)
(7) Loosen the mounting screws of the Joint #2, T3-B

Joint #2, 3, 4 AMP
3, 4 AMP board unit, and remove the board board unit
unit from Arm #2.
Sems bolt: 2-M3×10

board unit.
B
D
C
D: Brake cable connector (×1) A
(8) Remove the Joint #4 motor unit from Arm #2.

Remove the bolts securing the Joint #4 motor
on the motor plate and pull out the motor.
Joint #4
T3-B: 3-M4x20+M4 slotted hole washer motor unit
T6-B: 3-M4x20+M4 washer
Pulley carries the belt. Tilt Joint #4 motor little and pull it up with avoiding the belt
when removing the motor.
NOTE
The washer will be necessary again when mounting U belt. Be sure not to lose them.

(9) Remove the screws and washers for bearing

shaft from the Joint #4 motor.
T3-B: 2-M4x8
2- washer
diameter: ø4.2, thickness: 0.5 mm) Washers for
beating shaft
T6-B: 2-M3x6
2- washer
diameter: ø3.3, thickness 0.5 mm)
NOTE The washer will be used again. Be sure not to lose them.
 (10) Remove the pulley and the bearing from the
Joint #4 motor.
M4×8 set screw

Bearing
M4×8 set screw+M4 bushing
NOTE There is a brass bushing in the set screw holes.
 Be sure not to lose the bushing.

Pulley
M4 bushing
(11) Remove the motor plate from the Joint #4

motor.
2-M4×55 +M4 small washer
NOTE The washer will be necessary again when


Motor
mounting motor plate. Be sure not to lose plate
them.

Joint #4 (1) Mount temporarily the motor plate on the Joint

Motor #4 motor.
Installation 2-M4×55 +M4 small washer
When mounting temporarily the motor plate, be

Motor
careful of the positions of the motor plate and plate
the motor.
NOTE Check that the motor can be moved by hand,
 and it will not tilt when pulled.
(2) Mount the pulley and the bearing on the Joint

#4 motor.
M4×8 set screw

Bearing
M4×8 set screw+M4 bushing
Tighten one of the set screws and bushing

vertically on the flat face of the motor shaft. M4 bushing
Secure using the set screw and the bushing Pulley
while preventing damage to the motor shaft.
When tightening
Make sure that the bearing is inserted Bearing set screw
NOTE + Pulley Payload: 2.9±0.1kg
 completely when mounting the pulley. If the
end faces of the motor plate and bearing fit,
bearing is inserted completely.
Give a pressure to bearing when tightening.

Pressure: 2.9±0.1kg
Apply the following torque to secure the pulley.
(3) Mount the motor plate on the Joint #4 motor.
T3-B: 3-M4x20+M4 slotted hole washer
T6-B: 3-M4x20+M4 washer

Joint #4
motor unit

(4) Mount the screws and washers for bearing

shaft on the Joint #4 motor.
Tightening torque:
M3: 2 ± 0.1 N·m Washers for
beating shaft
M4: 2.5 ± 0.15 N·m
T3-B: 2-M4x8
2- washer: (external diameter: ø12, internal diameter: ø4.2, thickness: 0.5 mm)
T6-B: 2-M3x6
2- washer: (external diameter: ø10, internal diameter: ø3.3, thickness: 0.5 mm)
(5) Place the pulley around the U belt and secure temporarily the Joint #4 motor unit to
Arm #2.
NOTE Check that the motor unit can be moved by hand, and it will not tilt when pulled.
 If the unit is secured too loose or too tight, the belt will not have the proper tension.
Make sure the gear grooves of the belt are fit into those of the pulleys completely.
(6) Apply the proper tension to the U belt, and

secure the Joint #4 motor unit.
T3-B: 3-M4x20+M4 slotted hole washer
T6-B: 3-M4x20+M4 washer Joint #4

motor unit
Pass a suitable cord or string around the plate
hole of the Joint #4 motor unit. Then, pull the
cord using a force gage or similar tool to
apply the specified tension shown below.
U belt tension:
T3-B: 34.5 N (3.5 ± 0.5 kgf) Force gage
T6-B: 29.0 N (3.0 ± 0.5 kgf)
T3-B: 69.0 N (7 ± 0.5 kgf) U belt
T6-B: 58.0 N (5.9 ± 0.5 kgf)
Apply the following torque to secure the plate.
 12.3 Checking the Timing Belt Tension (U Belt)

(7) Mount the Joint # 2, 3, 4 AMP board unit. T3-B

Joint # 2, 3, 4 AMP
Connect the following connectors to the

AMP board unit.
B
D: Brake cable connector (×1)
D
C
A
(8) Mount the connector of the Joint #4 motor

unit.
A: AMP cable connector (×1)
B-IN A
(IN only: ×1)

When starting the Manipulator for the first time after replacing the motor unit, the motor
unit firmware is automatically updated. DO NOT turn OFF the power until the
Manipulator starts.
execute it.

12.2 Replacement of the timing belt

Name Quantity Note
U belt Width: 17 mm 1 T3-B: 1709608
Maintenance
U1 belt Width: 10 mm 1 T6-B: 1674797
part
U2 belt Width: 15 mm 1 T6-B: 1674798
Width across flats:
1 For M3 screw
Hexagonal 2.5 mm
wrench Width across flats:
1 For M4 screw
3 mm
Torque wrench 1
Tools Cross-point screwdriver (No. 2) 1 For cross-recessed screw
Tension
U: 69N (7.0±0.5 kgf)
Force gage 1
U1: 58N (5.9±0.5 kgf)
U2: 102 N (10.4 ± 0.75 kgf)
Suitable cord (Length about 800 mm) 1 For belt tension
■ The belt must be installed with proper tension; otherwise the following problems
may occur.
If falling below the lower limit : Jumping of the belt gears (position gap)
CAUTION If exceeding the upper limit : Abnormal noise or vibration (oscillation),
decline in the life of driving parts
removal steps.

12.2.1 U2 Belt (T6-B)

U2 belt (1) Turn ON the Manipulator.
Removal
Be careful of the shaft falling while the brake release switch is being pressed because the
shaft may be lowered by the weight of the end effector.

(6) Remove the Joint # 2, 3, 4 AMP board unit.

T6-B
Joint # 2, 3, 4 AMP
board unit.
D: Brake cable connector (×1) B
D
C
A
(7) Loosen the Joint #3 motor unit mounting bolt. Joint #3

motor unit
3-M4×15+M4 washer

(8) Loosen the Joint #4 motor unit mounting bolt.
3-M4x20+M4 washer Joint #4

motor unit
(9) Unscrew the mounting screws of the joint #4

intermediate unit. Pull out the joint #4
Joint #4
intermediate unit and U1 belt upward. intermediate
unit
3-M4x12+M4 washer
The washer will be necessary again when

mounting intermediate unit. Be sure not to lose
them.
(10) Remove the screws for the spline plate. Hold

Spline plate
up the spline plate and pull out the Z belt and
Z belt
U2 belt.
3-M4x12
U2 belt

U2 belt (1) Hold up the spline plate and set a new U2 belt
Spline plate
Installation around the U3 pulley.
Z belt
Make sure the gear grooves of the belt are fit
into those of the pulleys completely.
U2 belt
(2) Hold up the spline plate and set the Z belt around the Z2 pulley.
(3) Secure temporarily the spline plate on the Arm #2 and move the shaft up and down
3-M4x12
(4) While the U1 belt is set around the large pulley Small pulley Joint #4 intermediate
of Joint #4 intermediate unit, set the U2 belt U2 belt unit
Large pulley
inside the arm #2 around the small pulley and
U1 belt
put on the upper surface of the arm #2.
Make sure the gear grooves of the belt are fit
into those of the pulleys.
(5) Secure temporarily the Joint #4 intermediate unit by screws.
3-M4x12+M4 washer
Check that the Joint #4 intermediate unit can be moved by hand, and it will not tilt when
pulled. If the unit is secured too loose or too tight, the belt will not have the proper
tension.
(6) Apply the proper tension to U2 belt,

Joint #4 intermediate unit
and secure the Joint #4 intermediate
unit. Force gage
Set a suitable cord or string around the
part near the plate of the Joint #4
intermediate unit near its mounting U2 belt
3-M4×12
plate. Then, pull the cord using a force +plain washer
gage or similar tool to apply the
specified tension shown below.
U2 belt tension:
51 N (5.2 ± 0.75 kgf)
102.0 N (10.4 ± 0.75 kgf)
Apply the following torque to secure
the plate.

(7) Apply the proper tension to U1 belt, and

Set a suitable cord or string around the part
Joint #4
near the plate of the Joint #4 motor unit near
motor unit
its mounting plate. Then, pull the cord using
a force gage or similar tool to apply the
specified tension shown below.
3-M4×12
U1 belt tension:
+ washer
29.0 N (2.95 ± 0.5 kgf)
Axial force (when pulling): Force gage
58 N (5.9 ± 0.5 kgf)
Apply the following torque to secure the
plate.
NOTE To check belt tension with the tension meter, refer to “12.3 Checking the Timing Belt
 Tension”.
(8) Apply the proper tension to the Z belt, and

Joint #3
Set a suitable cord or string around the part motor unit
near the plate of the Joint #3 motor unit near
its mounting plate. Then, pull the cord
using a force gage or similar tool to apply Force gage
the specified tension shown below.
Z belt
Z belt tension: 3-M4×12 + washer
34.5 N (3.5 ± 0.5 kgf)
69.0 N (7.0 ± 0.5 kgf)
Apply the following torque to secure the
plate.
 11.4 Checking the Timing Belt Tension (Z Belt)

(9) Mount the Joint # 2, 3, 4 AMP board unit.

T6-B
Joint # 2, 3, 4 AMP
Connect the following connectors to the AMP

board unit.
B
D
C
D: Brake cable connector (×1) A


12.2.2 U1 Belt (T6-B)

U1 belt (1) Remove the Joint #4 motor unit.
Removal
(2) Remove the Joint #4 intermediate unit and then remove the U1 belt.
Reference: 12.2.1 U2 Belt “U2 belt Removal”
U1 belt (1) Apply the proper tension to U2 belt, and secure the Joint #4 intermediate unit.
Installation
Reference: 12.2.1 U2 Belt “U2 belt Installation”
(2) Apply the proper tension to U1 belt, and secure the Joint #4 motor unit.

12.2.3 U Belt (T3-B)

U belt (1) Remove the Joint #4 motor unit.
Removal
(2) Loosen the Joint #3 motor unit mounting T3-B

bolt.
b
a: 2-M4×15+M4 slotted hole washer Joint #3
b: M3×12+M3 slotted hole washer motor unit
(3) Unscrew the spline plate mounting screws. Spline

plate
3-M4×12
Holding the spline plate upward, pull out

the Z Belt and U belt.
U belt
Shaft Z belt
U belt NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
Installation  Socket Head Cap Bolts”.
(1) Hold up the spline plate and set a new U belt around the U2 pulley.
3-M4×12
(2) Hold up the spline plate and set the Z belt around the Z2 pulley.
(3) Secure temporarily the spline plate on the Arm #2 and move the shaft up and down
(4) Mount the Joint #4 motor unit.
(5) Apply the proper tension to the Z belt, and secure the Joint #3 motor unit.

12.3 Checking the Timing Belt Tension

Name Quantity Note
For details of usage and measurement methods of the tension
Tools Sonic tension meter 1
meter, refer to the instruction manual of the tension meter.
Joint #4 (1) Enter appropriate setting values to the sonic tension meter.
Belt tension Unit weight M
Width W Span S
check Model Belt [g/ (1 mm width × 1 m
[mm] [mm]
length)]
T3-B U belt 1.3 17 127
U1 belt 2.0 10 54
T6-B
U2 belt 2.0 15 170
(2) T3-B: Flip the U belt and measure the tension.
T6-B: Flip the U2 belt and measure the tension.
NOTE Measurement failure may occur if the microphone
 touches the belt during measurement.
(3) T6-B : Remove the rubber plug from the

hole on the Arm #2.
Flip the U1 belt and measure the tension.
NOTE For T6-B, insert the microphone of the
 tension meter to the hole on the arm to

measure tension.
Measurement failure may occur if the
microphone touches the belt during
measurement.

T3-B T6-B Maintenance 13. Ball Screw Spline Unit
13. Ball Screw Spline Unit

system.
these origins.
Name Quantity NOTE

Maintenance 150st 1 T3-B: 1792117
Ball Screw Spline Unit
part 200st 1 T6-B: 1750572
Hexagonal wrench
1 For M4 screw
(width across flats: 3 mm)
Torque wrench 1
Belt tension:
Tools Z, U: 69 N (7.0 ± 0.5 kgf)
Force gage 1
U1: 58 N (5.9 ± 0.5 kgf)
U2: 102 N (10.4 ± 0.75 kgf)
Suitable cord
1 For belt tension
(Length about 800mm)
Wiping cloth 1 For wiping grease (Spline shaft)
Material Wire tie -
For Ball Screw Spline Unit Proper
Grease
(AFB grease) quantity
NOTE
A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to
However, the brake does not work during replacement. Refer to removal steps (1) to (3) to
move the shaft down to its lower limit before the replacement procedure.

Ball Screw (1) Turn ON the Manipulator.

Spline Unit
Removal
NOTE The brake release switch affects only Joint #3. When the brake release switch is pressed,
 the Joint #3 brake is released.

(4) Detach the wires/tubes from the end effector and remove the end effector.
(5) Remove the arm top cover and arm bottom cover.
Reference: 7. Covers
(6) Remove three screws mounting the spline a

plate.
a: 3-M4×12
(7) Remove four screws mounting the spline nut.

b: T3-B: 4-M4×10 b
T6-B: 4-M4×12
(8) Pull out the following toward the Arm #2 upper side.
Ball screw spline unit Z belt U belt (T3-B) U2belt (T6-B)

Ball Screw NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
Spline Unit
Installation
(1) Insert a new ball screw spline unit in the Arm #2.
(2) Secure the spline nut from the bottom side of

the Arm #2.
T3-B: 4-M4×10
T6-B: 4-M4×12
(3) Mount the following.

U belt (T3-B) U2 belt (T6-B) Z belt
Reference: 12.2 Replacing the Timing Belt “Installation”
(4) Mount the Arm Top Cover and Arm Bottom Cover.
Reference: 7. Covers
(5) Grease the shaft.
Reference: 2.3 Greasing the Ball Screw Spline Unit
(6) Mount the end effector, cables, and tubes.


T3-B T6-B Maintenance 14. Lithium Battery, SD Card, Boards, and Filter
14. Lithium Battery, SD Card, Boards, and Filter

■ Use meticulous care when handling the lithium battery. Improper handling of the
lithium battery as mentioned below is extremely hazardous, may result in heat
generation, leakage, explosion, or inflammation,
and may cause serious safety problems.
- Battery Charge - Deformation by Pressure
- Disassembly - Short-circuit (Polarity; Positive/Negative)
- Incorrect Installation - Heating (85 °C or more)
WARNING - Exposing to Fire - Soldering the terminal of the lithium battery directly
- Forced Discharge
■ When disposing of the battery, consult with the professional disposal services or
comply with the local regulation. Spent battery or not, make sure the battery
terminal is insulated. If the terminal contacts with the other metals, it may short
and result in heat generation, leakage, explosion, or inflammation.
The life span of the lithium battery varies depending on the energizing hours and installation
environment of the Manipulator. It is about 7 years as a rough guide. (when the Manipulator
is connected to power for 8 hours a day)
When the Manipulator is not connected to power, the battery consumption will significantly
increase compared to when the Manipulator is energized.
If warnings of voltage reduction occur, replace the lithium battery even if it has not reached
the above product life.
NOTE For the EPSON RC+ 7.0, the recommended replacement time for the battery can be checked
 in the [Maintenance] dialog box of the EPSON RC+ 7.0.
Reference: 12.2 Replacing the Timing Belt “Installation” “4. Alarm”
The battery may run out if it passes the recommended replacement time.
If no warnings of voltage reduction occur, the calibration for all joints is not necessary. You
need to perform calibration if the position moves from the originals after replaced the battery.
Always use the lithium battery and battery board designated by us.
Reference: “19. Maintenance Parts List.”
Be careful of the battery polarity to connect it correctly.

14.1 Replacing the CPU/DPB Boards

■ Make sure that orange colored charge confirmation LED on the DPB turns off
when eject the CPU or DPB. If operating without tuning off the LED, electric shock
or other serious problems for safety may occur.
T6-B
T3-B
WARNING
Charge Confirmation LED

Charge Confirmation LED
Name Quantity NOTE

Maintenance T3-B: 2182747
CPU/DPB boards 1
part T6-B: 2191143
Hexagonal wrench Width across flats: 2 mm 1 For M3 button bolt
Tools
Cross-point screwdriver 1
CPU/DPB boards (1) Turn OFF the Manipulator.

Replacement
Reference: “7.4 Connector Plate”
(3) Remove the following parts that connected to the Connector Plate.
Air tube
TP connector
Hexagon socket head cap button bolt: 5-M3x5

CPU/DPB
Board
T6-B: Disconnect the connector of regenerative resistor

junction cable. Then, remove the regenerative
resistor fixing plate.
2-M4×8 Sems


D
E
H
D: Hand I/O connector
E: LED connector
F: Regenerative resistor 1 (T6-B only) C
G: Regenerative resistor 2 (T6-B only)
A-OUT A-IN
T6-B D
E
B
NOTE

Remember the cable layout for reconnecting the cables
correctly after replacement.
H F
G
A-OUT A-IN
(6) Remove the radiation sheet attached on the CPU board.

NOTE
 Radiation sheet will be used again. Be sure to keep the

sheet.
Be careful not to break the radiation sheet.
Radiation
sheet
(7) Attach the radiation sheet on the face of new CPU/DPB

board connectors do not come out.
Be careful not to attach the sheet on the wrong face.


D
E
E: LED connector
A-OUT A-IN
T6-B D
E
B
H F
G
A-OUT A-IN
Hexagon socket head cap button bolt: 5-M3x5

CPU/DPB
Board
(10) T6-B: Mount the regenerative resistor fixing plate

and connect the connector of regenerative resistor
junction cable.
2-M4×8 Sems
Air tube
TP connector
Reference: “7.4 Connector Plate”

14.2 Replacing the Lithium Battery

Name Quantity NOTE
Maintenance
Lithium Battery 1 2113554
part
Hexagonal width across flats: 2
1 For M3 button bolt
Tools wrench mm
Cross-point screwdriver 1
NOTE Replace the battery within 30 minutes after turning OFF.
 If more than 30 minutes pass after removing the battery, voltage of the capacitor lower and
time may be reset.
Battery unit (1) Remove CPU/DPB board from a base.

(lithium battery)
Reference: “14.1 Replacing the CPU/DPB Boards”
Replacement
(2) Remove the battery connector and connect the new
one.

Reference: “14.1 Replacing the CPU/DPB Boards”

14.3 Replacing the SD Card

Name Quantity NOTE
Maintenance
SD card 1 2182748
part
Tools Cross-point screwdriver (No.2) 1
NOTE
 Remove the SD card after removing the fieldbus I/O module if fieldbus I/O module is
inserted to the option slot. Also, install fieldbus I/O module after installing the SD
card. Also, install fieldbus I/O module after installing the SD card.
For more details about fieldbus I/O module, refer to the following.
Reference: T-B series Manual T3-B T6-B Manipulator
17. Fieldbus I/O
SD Card (1) Turn OFF the Manipulator.
Removal
(2) Remove the power plug.
(3) Remove the optional slot cover on the back face of the Manipulator.
Sems bolt: 2-M3×6
Option
Slot Cover
(Illustration: T3-B 401S)
(4) Push the SD card which is inserted near the option slot to eject.
SD Card NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
Installation
(1) Insert the SD card and inset to the SD card slot near the optional slot.
(2) Mount the optional slot cover by screws.
Sems bolt: 2-M3×6

14.4 Replacing the Power Board

Name Quantity NOTE
Maintenance 1 T3-B: 2182749
Power Board
part 2 T6-B: 2188638
Tools
Spanner (width across flats: 5.5mm) 1 For hexagonal posts
Power Board NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon
Replacement  Socket Head Cap Bolts”.
Reference: “7.5 Power Unit Cover”
(3) Remove the Power Board Cover. T3-B
T3-B: Truss screw: 2-M4×6
T6-B: Hexagon socket head cap bolts T6-B

: 5-M3×6
Binding head small screws
: M4×10
(4) Remove the connectors of the Power board.

Power connector (IN/OUT ×1 for each)
NOTE
 For T6-B only:

There are two Power Board.
OUT
IN
First, remove the connector of Power Board on the
N
cover side.

(5) T3-B : Remove the Power Board.
Binding head small screws : 4-M3×10
(Illustration: T3-B401S)
First, remove the connector of Power Board on

the cover side.
Remove the connectors of the base sheet
metal side and then remove the Power
Board.
(6) Mount new Power Board.
T3-B: Binding head small screws : 4-M3×10
T6-B: Binding head small screws : 10-M3×10
(7) Connect the Power Board Connector.

Power connector (IN/OUT ×1 for each)
(8) Mount the Power Board Cover.
T3-B: Truss screw: 2-M4×6

T6-B: Hexagon socket head cap button bolt: 5-M3×6
Binding head small screws： M4×10
(9) Mount the Power unit cover.


14.5 Fieldbus I/O

Fieldbus I/O supports the following models for T-B series.
DeviceNet™ CC-Link
PROFIBUS-DP PROFINET
EtherNet/IP™ EtherCAT®
Modbus

“Robot Controller Option Fieldbus I/O”
“EPSON RC+ 7.0 User’s Guide 11.7 Fieldbus Slave I/O”

Name Quantity NOTE

Cross-point screwdriver (No. 2) 1
Tools
Torque wrench (T8) 1 Fieldbus I/O module supplied
Fieldbus (1) Turn OFF the Manipulator.

I/O Module
(2) Remove the optional slot cover on the back face of
Installation
the Manipulator.
Sems bolt: 2-M3×6
(3) Inset the fieldbus I/O module to the option slot.
 Check the clips of the fieldbus I/O module are securely hooked on the board
when installing fieldbus I/O module. If clips do not be hooked securely, connector
CAUTION or fieldbus I/O module may get damages.
(4) Tighten screws by using special tool until fieldbus I/O

module is fixed completely.
Image of installation
Front Back
Fieldbus (1) Unscrew the screws by using special tool until fieldbus I/O module is loosened.
I/O Module
(2) Remove the fieldbus I/O module.
Removal
You can remove the module by pulling loosened screws toward.
(3) Mount the option slot cover.

T3-B T6-B Maintenance 15. LED Lamp Unit
15. LED Lamp Unit

■ Do not connect or disconnect the connectors while the power to the robot system
is turned ON. Connecting or disconnecting the motor connectors with the power
ON is extremely hazardous and may result in serious bodily injury as the
Name Quantity NOTE

Maintenance
LED Lamp Unit 1 2182673
part
Tools
Nippers 1
Material Wire tie 1

T3-B T6-B Maintenance 15. LED Lamp Unit
LED Lamp Unit (1) Turn OFF the Manipulator.

Replacement
(3) Remove the connector of LED board.

A
(4) Disconnect the X1 and X2 terminals from

the LED.
(5) Turn the lens counterclockwise to remove. Lens
Lens Holder
Then, turn the lens holder counterclockwise Ring
to remove. LED
X2
(6) Remove the LED and ring from the Power Terminal X1 Terminal
Unit.
(7) Connect the X1 and X2 terminals to the new
LED.
Each terminal must be connected to the
same terminal number on the LED.
(8) Put the user plate between the ring and lens
holder, and then secure the LED to the
cover.
(9) Mount the lens.
(10) Connect the LED board connector.

LED - LED board connector

T3-B T6-B Maintenance 16. RESET Switch
16. RESET Switch
RESET Switch
RESET switch has following function.
Manipulator reboot
Push the RESET switch for three seconds when booting the manipulator.
Manipulator reboots.
Shape of RESET switch is difficult to push. Push with sharp edged object as shown in the
figure below when pushing the RESET switch.

T3-B T6-B Maintenance 17. Calibration
17. Calibration
17.1 About Calibration
system.
these origins. Note that calibration is not the same as teaching*.
* “Teaching” means to teach the Manipulator coordinate points (including poses) anywhere
in the operating area of the Manipulator.
■ To ensure safety, a safeguard must be installed for the robot system. For details
of the safeguard, refer to “T-B series Manual 1.5 Safeguard”.
■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area. The motion of the
WARNING Manipulator is always in restricted (low speeds and low power) status to secure
the safety of an operator. However, operating the robot system while someone is
inside the safeguarded area is extremely hazardous and may result in serious
safety problems in case that the Manipulator moves unexpectedly.
Command Input
Calibration procedures include the process to input commands. Select EPSON RC+ menu-
[Tools]-[Command Window] to use the command window.
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] tab to use
the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedure.

17.2 Calibration Procedure

EPSON RC+ has a wizard for calibration.
This section indicates the calibration using the calibration wizard of EPSON RC+.
The way of calibration for each joint is the same expect for some parts.
The follow the steps below are calibration using Joint #1. Follow the steps below to calibrate
other joints.
When coordinates for the Manipulator working point require calculation, it is important for
Joint #2 to be calibrated accurately. Execute the procedure in “Calibration Using Right /
Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to “17.3
Accurate Calibration of Joint #2”.
You cannot calibrate Joint #4 alone because of the structure of the Manipulator. When
calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time.
NOTE If Err9716 or 5016 (Power supply failure of the absolute encoder. Replace the battery.
 Check the robot internal wiring) occurs, apply the procedure of “17.4 Reference:
Calibration Procedure Without Using Calibration Wizard - 3. Encoder Initialization” and
then, start the calibration wizard.
The reference point (a point to check the accuracy) needs to be specified for calibration.
(1) Start the calibration wizard.

i. Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the
[System Configuration] dialog.
ii. Select [Robot]-[Robot**]-[Calibration] to display [Robot**: Calibration].
iii. Select the joint and click the <Calibrate…> button.

(2) Confirm the warning message and click the <Yes> button.
(3) Move the joint to calibrate manually to approximate zero position, as shown in the
dialog. After moving the joint, click the <Next> button.

0 pulse position of Joint #1:

Position aligned with X-axis in
Robot coordinate system
+
0 pulse
−
0 pulse position of Joint #2: 0 pulse

Position where Arms #1 and #2 + −
are in a straight line
(Regardless of the Joint #1
direction.)

Upper limit position in motion
range
The height of Joint #3 depends

on manipulator.
T3-B T6-B
Position where the flat surface
+
(or groove in the up/down
mechanical stop) on the shaft 0 pulse
faces toward the tip of Arm #2
−
Grooves
Flat surface

(4) Reset the encoder. Click the <Yes> button.
(5) Controller (Manipulator) restarts.
* This window will disappear when the Controller starts up.

(6) Select the reference point to use for calibration, and click the <Next> button.
Select a point from the

current points to use for
checking the accuracy.
(7) Click the <Jog…> button to display the [Jog & Teach] dialog.

(8) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for
rough calibration. Then click the <OK> button.
Before operating the robot, open the [Control Panel] and click on the <Motor ON>
button.
NOTE Move the end effector from the zero pulse position to the approximate reference point
 where rough calibration will be executed at by the jog motion. Position gap may occur
if the end effector is not moved by the jog motion.
(9) Click the <Next> button.

(10) The manipulator moves to the reference point. Click the <Execute> button.
Input JUMP P0:z(0).

↑
Point selected in step (6)
(11) Confirm the message and click the <Yes> button.
(12) After the manipulator moves to the reference point, click the <Next> button.

(13) Jog to the accurate reference position. Click the <Jog> button.
(14) Jog the end effector to accurate reference point and click the <OK> button.
* For only Position Joint #2, move Joint #3 to around 0 pulse after Jogged to the
accurate reference point.

(15) Click the <Next> button.
(16) Execute the procedure in “Calibration Using Right / Left Arm Orientations” to
accurately calibrate Joint #2.
Go on to the step (17) for the other joint’s calibration.
i. Move to another point that has different pose (from righty to lefty) using Jump
command. Click the <Yes> button.
Click the <Yes> button.
ii. Jog to the accurate reference position.

iii. Jog to the accurate reference position and adjust the position. Click the <OK>
button.
iv. Click the <Next> button.

(17) Calibration is complete. Click the <Finish> button.
(18) Move the manipulator to other points and check if it can move without problems.
Teach points where appropriate.

17.3 Accurate Calibration of Joint #2

Joint #2 to be calibrated accurately.
NOTE If the accuracy of Joint #2 is not obtained through the steps in the section “17.2
 Calibration Procedure”, follow the steps below “Calibration Using Right / Left Arm
Orientations” to accurately calibrate Joint #2.
The reference point is the center of the ball The center of the shaft
screw spline shaft during this calibration.
When there is a misalignment between the

center of the end effector and the center of the
ball screw spline shaft, remove the end effector
There is a misalignment
and execute the calibration of the shaft. between the center of
the end effector and the
center of the shaft.
Make a calibration jig as shown in the right The center of the shaft
figure and attach it on the end of the shaft to
make the center of the shaft clear.
Decide a target point and mark a cross (×) on it

so that you can easily verify the center of the
Calibration jig at the
shaft after switching the arm pose between right end of the shaft
and left. (Example)
Target point
After removing the end effector and executing the calibration, install the end effector and
move the Manipulator to the teaching point to verify whether there is a positional gap. If
there is a positional gap, fine-tune the installation position of the end effector and teach the
point again.
Coordinates for the working point requires calculation in the following cases:
- Teaching the working point by entering the coordinate values (MDI teaching)
- Switching the arm orientation between right and left at a given point
- Using the Pallet command
- Executing CP control (such as liner or circular interpolation)
- Using the Local command
- Pose data specified with relative coordinates <Example: P1+X(100) >
- Vision Guide camera calibrations

Calibration Using Right / Left Arm Orientations

(1) Check the point data for calibration
Use a point you can easily verify the accuracy within the work envelop of both right
and left arm. Then, check the number of points you want to use.
(2) Open the [Tools menu] - [Robot Manager] - [Control Panel] and click the MOTOR ON.
(3) Click the <Free All> button in the [Control Panel] to free all joints. Now, all joints
are state in free joint and you can move arms by hands.
(4) Move the arms to the position of point data for calibration in rightly arm orientation.
(5) From the current position, teach any point data number unused.
(The point is called P1 in this example. )
Specify the point number “1” and click the <Teach> button in the [Jog & Teach].
(6) Click the <Lock All> button in the [Control Panel] to unlock free joint state of all joints.
(7) Switch to the lefty arm orientation. Then, move the arm to the same point.
>Jump P1/L:Z(0) ' Change the arm orientation from righty to lefty
* If there is interference on the way from right to lefty, click the <Free All> button
in the [Control Panel] and change the arm orientation to lefty by hands. Then,
go to the step (6), (7).
(8) The joints are slightly out of position.
Adjust the gap with the Z in the Jogging group in the [Jog & Teach]. Then, teach
another point data number unused.
(The point is called P2 in this example.)
(9) Input the new Hofs value.
> Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
(10) From the current lefty arm orientation (the position in the step (8)), teach the point
data number used in the step (8).
(The point is called P2 in this example.)
(11) Switch to the righty arm orientation. Then, make sure the manipulator moves to the
correct position.
>Jump P2/R ' Change the arm orientation from lefty to righty
* If there is interference on the way from lefty to righty, click the <Free All> button
in the [Control Panel] and change the arm orientation to lefty by hands. Then,
go to the step (6), (11).

(12) Move the manipulator to other point data and make sure it moves to the correct position.
Teach some more points if required.
* Delete the two points taught for the Joint #2 calibration.
17.4 Reference: Calibration Procedure Without Using Calibration Wizard

NOTE This section indicates the calibration without using the calibration wizard of EPSON RC+.
 For details of calibration using the calibration wizard, refer to “17.2 Calibration
Procedure”.
Joint #2 to be calibrated accurately. Execute the procedure in “Calibration Using Right /
Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to “17.3
Accurate Calibration of Joint #2”.
You cannot calibrate Joint #4 alone because of the structure of the Manipulator. When
calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time.
NOTE The reference point (a point to identify the position of the Manipulator) needs to be specified
 for calibration.
Follow steps 1 to 6 described below in order to calibrate the origin.
1. Check the point data for calibration
(1)-1 After the part replacement, execute the calibration using the point data
currently registered.
Confirm the point data number (P*) to reconstruct the correct manipulator
position.
* Point data before the parts replacement (motor, reduction gear, belt, etc.) is
necessary for the calibration.
2. Part Replacement
(2)-1 Replace parts as dictated by this manual.
* Be careful not to injure yourself or damage parts during part replacement.
3. Encoder Initialization
(3)-1 Turn ON the Manipulator when all joints are in the motion range.
(3)-2 Manually move the joint that needs origin alignment to its approximate 0
pulse position.


Position aligned with X-axis in
Robot coordinate system
+
0 pulse
−
0 pulse position of Joint #2: 0 pulse

Position where Arms #1 and #2
+ −
are in a straight line
(Regardless of the Joint #1
direction.)

Upper limit position in motion
range
The height of Joint #3 depends

on manipulator.
T3-B T6-B
Position where the flat surface
+
(or groove in the up/down
mechanical stop) on the shaft 0 pulse
faces toward the tip of Arm #2
−
Groove
Flat surface

(3)-3 Connect EPSON RC+ to the Manipulator.
Select a Manipulator to be calibrated. Input as below in the [Command

Window] and execute it. (This example uses “robot 1”.)
> robot 1
(3)-4 Execute the absolute encoder initialization command.
Input one of the following commands to [Command Window] according to the

joint being calibrated.
Joint #1: >EncReset 1

Joint #4: >EncReset 3, 4
(3)-5 Reboot the Controller (Manipulator).
Select EPSON RC+ menu-[Tools]-[Controller] and click the <Reset

Controller> button.
* This window will be disappeared when the Controller starts up.
4. Rough Calibration
(4)-1 Execute the following command from the menu-[Tools]-[Command Window].
>calpls 0,0,0,0
* Manipulator does not move.

(4)-2 Execute one of the following commands according to the joint you want to
calibrate from the menu-[Tool]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
5. Calibration (Accurate Positioning)
(5) -1 Open the [Tools menu] [Robot Manager] [Control Panel] and click the MOTOR
ON.
(5)-2 Click the <Free All> button in the [Control Panel] to free all joints. Now, you
can move arms by hands.

(5)-3 Move the Manipulator by hand to a rough position/posture of the calibration

point data.
(5)-4 Create the data from the calibration point data.
Enter and execute the following command in [Command Window].

(In this example, P1 is used as the calibration point data.)
> Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1,3),

Ppls(P1,4)
(5)-5 Move the joint to the specified point using a motion command.
For example, when the specified point data is “P1”,

execute “Jump P1:Z(0)” from [Jog & Teach].
* The joint NOT being calibrated moves to the original position.
(5)-6 Accurately align the joint* being calibrated to the specified point using jog
commands.
* You must move Joint #3 and #4 to the position when calibrating Joint #4.
Select the jog mode [Joint] from [Jog & Teach] to execute the jog motion.
(5)-7 Execute the calibration.
Input one of the following commands to [Command Window] according to the

joint being calibrated.
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
6. Accuracy Testing
(6) -1 Move the manipulator to other points and check if it can move without
problems. If it does not move to the same position, re-calibrate using another
point. You must set the point again if reproducibility cannot be assured
through calibration

T3-B T6-B Maintenance 18. Error Code Table
18. Error Code Table

Status Code / Error Code List

T3-B T6-B Maintenance 19. Maintenance Parts List
19. Maintenance Parts List

*1 Reduction Gear Unit
gear units, be sure to always replace the waveform generator, flexspline, and circular spline
all together as one set.
Elliptic cam bearing Elliptic cam bearing
This waveform generator consists of an
elliptic cam with ball bearings on its outer
circumference.
The inner ring of bearings is secured to the
cam, while the outer ring is capable of
flexible deformation through the ball
bearings.
Flex gear
Internal gear Flex gear
A thin, elastic, cup-shaped metal body with
gear teeth around the outer circumference of
the opening.
Internal gear
A rigid, ring-shaped body with gear teeth on
the inner circumference. The circular spline
has more teeth than the flex gear does.
Elliptic cam bearing, flex gear, and internal gear are greased. Be careful not to let grease
adhere to clothes.
*2 Regarding purchase of grease and adhesive
Due to the chemicals regulations of individual countries (the UN GHS), we are requesting
our customers to purchase the grease required for maintenance from the manufacturers listed
in the table below as of April 2015.
Regarding purchase of the grease, please contact the following manufacturers. If there is
anything unclear, please contact the supplier of your region.
Product name Manufacturer URL

THK AFB-LF Grease THK CO., LTD. https://www.thk.com/
Sumiplex SFB No.1 Nidec-Shimpo Corporation https://www.nidec-shimpo.co.jp/
LOCTITE 268 LOCTITE https://loctite.com
* 3 Overhaul
As a rough indication, perform the overhaul (parts replacement) before reaching 20,000
operation hours of the Manipulator.
The operation hours can be checked in EPSON RC+ - [Controller Status Viewer] dialog -
[Motor On Hours].
For details, refer to “2.2 Overhaul (Parts Replacement)”.

19.1 T3-B
Name Code NOTE Reference Overhaul* 3
Cable Duct Unit 2207936 8.1
Joint #1 2207934 200W 9.1 
Joint #2 2207935 100W 10.1 
Motor Unit
Joint #3 2216544 100W 11.1 
Joint #4 2216545 100W 12.1 
Set of reduction gear units
1829508 and elliptic cam positioning
Reduction Gear Unit* 1 Joint #1, 2 jig 9.2, 10.2 
1868484 Only Reduction Gear Unit
9.1, 9.2,
Elliptic cam positioning jig 1875189 Assembly jig
10.1, 10.2
Between reduction gear unit
1213266
and Arm #1
Joint #1 Between reduction gear unit 9.1
1868478
and flange
O-ring 1709549 Between motor and flange
1213266
and Arm #1
Joint #2 10.1, 10.2
1868478
and Arm #2
Joint #3 1554773 Z 11.2 
Timing Belt
Joint #4 1709608 U 12.2 
Solenoid brake unit 1875188 Z-axis 11.3 
Brake Release Switch 2167711 -
Ball Screw Spline (150st) 1792117 13 
Lithium Battery 2113554 14.2
CPU/DPB Board 2182747 14.1
Power Board 2182749 14.4
AMP board 2208322 -
Ball Screw Spline: AFB 2.3, 13
Grease * For purchasing grease and
Reduction Gear Unit: SFB - 9.1, 9.2,
adhesive, please contact the
No.1 10.1, 10.2
supplier in your region.
Adhesive * LOCTITE268 - 8.1
Arm Cover 1868481 Arm Top Cover (White) 7.1
Under Cover 1769389 Arm Bottom Cover (Blue) 7.2
SD Card 2182748 14.3
TP Plug 2171258 -

19.2 T6-B
Name Code NOTE Reference Overhaul* 3
Cable Duct Unit 2207939 8.1
Joint #1 2207937 300W 9.1 
Joint #2 2207938 200 W 10.1 
Motor Unit
Joint #3 2216544 100 W 11.1 
Joint #4 2216545 100 W 12.1 
Joint #1 1829509 Set of reduction gear units 9.2 
and elliptic cam positioning
Reduction Gear Unit Joint #2 1829510 jig 10.2 
*1 Joint #1 1868485 9.2
Only Reduction Gear Unit
Joint #2 1868486 10.2
9.1, 9.2,
Elliptic Cam Positioning Jig 1875190 Assembly Jig
10.1, 10.2
1510528
and Arm #1
Joint #1 Between reduction gear unit 9.1
1868480
and flange
O-ring 1520371 Between motor and flange
1213267
and Arm #1
Joint #2 10.1, 10.2
1868479
and Arm #2
Joint #3 1563316 Z 11.2 
Timing Belt 1674797 U1
Joint #4 12.2 
1674798 U2
Solenoid Brake Unit 1875188 Z-axis 11.3 
Brake Release Switch 2167711 -
Ball Screw Spline (200st) 1750572 13 
Lithium Battery 2113554 14.2
CPU/DPB Board 2191143 14.1
Power Board 2188638 14.4
AMP Board 2189027 -
Ball Screw Spline:
2.3, 13
AFB
Grease *2 - For purchasing grease and
Reduction Gear Unit: adhesive, please contact the 9.1, 9.2,
SFB No.1 supplier in your region. 10.1, 10.2
Adhesive *2 LOCTITE268 - 8.1
Arm Cover 1868482 Arm Top Cover (White) 7.1
Under Cover 1763918 Arm Bottom Cover (Blue) 7.2
SD card 2182748 14.3
TP Plug 2171258 -


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SCARA ROBOT

T-B series Maintenance Manual

Copyright  2021-2022 SEIKO EPSON CORPORATION. All rights reserved.

T-B series Maintenance Manual Rev.2 i

TRADEMARK NOTATION IN THIS MANUAL

ii T-B series Maintenance Manual Rev.2

Regarding battery disposal

For European Union customers only

This information only applies to customers in the European Union, according to

For Taiwanese customers only

For California customers only

T-B series Maintenance Manual Rev.2 iii

NOTE Security support for the USB memory:

 If written T series in the reference information, read it as T-B series.

Features of T-B series Manipulators

iv T-B series Maintenance Manual Rev.2

Setting by Using Software

T-B series Maintenance Manual Rev.2 v

Safety Manual (book, PDF)

T-B series Manual (PDF) (Controller integrated Manipulators)

Status Code/Error Code List (PDF)

T-B series Maintenance Manual (PDF) (Controller integrated Manipulators)

EPSON RC+ 7.0 User’s Guide (PDF)

EPSON RC+ 7.0 SPEL+ Language Reference (PDF)

Other Manual (PDF)

vi T-B series Maintenance Manual Rev.2

T3-B T6-B Maintenance

5. Backup and Restore 21

T-B series Maintenance Manual Rev.2 vii

7.3 Power Cable Cover ............................................................................ 39

13. Ball Screw Spline Unit 113

14. Lithium Battery, SD Card, Boards, and Filter 116

viii T-B series Maintenance Manual Rev.2

15. LED Lamp Unit 126

16. RESET Switch 128

17. Calibration 129

18. Error Code Table 146

19. Maintenance Parts List 147

T-B series Maintenance Manual Rev.2 ix

x T-B series Maintenance Manual Rev.2

This symbol indicates that a danger of possible serious injury

This symbol indicates that a danger of possible serious injury

This symbol indicates that a danger of possible harm to people

T-B series Maintenance Manual Rev.2 3

1.2 Maintenance Precautions

4 T-B series Maintenance Manual Rev.2

2.1 Maintenance Inspection

T-B series Maintenance Manual Rev.2 5

2.1.2 Inspection Point

6 T-B series Maintenance Manual Rev.2

2.2 Overhaul (Parts Replacement)

T-B series Maintenance Manual Rev.2 7

8 T-B series Maintenance Manual Rev.2

Greasing part Greasing Interval Grease How to grease

Joint #1, 2 reduction gear units

Normal grease Discolored grease

Perform greasing at 50 km of operation for the first time of greasing.