Epson ES Series User Manual

8. Replacing the Timing Belts Part 2: Maintenance
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8.3 Replacing the U2 Belt
Removal : U2 Belt
(1) Remove the Joint #3 motor unit as described in 5.3 Replacing the Joint #3 Motor steps
(1) through (4).
(2) Loosen the four bolts (M4×10) holding the Joint #4 motor plate.
(2) 4-M4
×
10
(3) 2-M4
×
12
Joint #4 countershaft unit
Joint #4 motor plate
(3) Loosen the two bolts (M4×12) holding the Joint #4 countershaft unit.
(4) Remove the U2 belt from the small U2 pulley (the lower side).
U1 belt
Small U2 pulley
Large U2 pulley
U2 belt

Epson ES Series Specifications

General

Type	SCARA
Payload	3 kg
Repeatability	±0.01 mm
Axes	4
Controller	RC700