IAI America RCP2W-RA10C - Manual (Page 80)

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12. Process for Motor Replacement
6) Remove the 4 screws retaining the motor cover
using a Phillips screwdriver.
The motor cover will come off.
7) Disconnect the motor connector and encoder
connector.
Pay special attention to the encoder PCB so you
would not touch it during the work.
8) Remove the 4 screws (M4 × 14) retaining the motor
using a 3mm sized hex wrench.
Encoder PCB
Top Side
Bottom Side