Epson G20 Series User Manual

Maintenance 7. Arm #3
162 G10 / G20 Rev.20
(9)
Set the Joint #
4 motor unit in Arm #2.
Place the
Joint #4 motor unit in Arm #2 so that
the motor cable faces toward the
left from the
end
of the arm.
The screws are not secured in this step.
4-M4×15
+ Washer
Joint #4
m
otor unit
(10)
Place the
U belt around the U1 pulley and the
U
2 pulley so that the gear grooves of the belt
are fit into those of the pulleys
completely.
U belt
U2 pulley
U1 pulley
(11)
Loosely secure the Joint #4 motor unit to Arm
#2.
Loosely secure the Joint #4 motor unit to Arm
#2
so 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.
4-M4×15
+ Washer
Joint #4
motor unit
(12)
Apply the proper tension to the Z belt and
U belt, and then secure the Joint #3 motor
unit and Joint #4 motor unit.
To do so, pass
a suitable cord or string
around the motor unit near its mounting
plate
. Then, pull the cord using a force
gauge
or similar tool to apply the specified
tension shown in the figure on the right
.
Make sure that the brake cables do not
touch the pulley.
4-M4×15 + Washer
G10 : Z belt tension = 130 N (13.3 kgf)
Force gauge
Joint #3
motor unit
4-M4×15 + Washer
G10 :
U belt tension = 160 N
(16.3 kgf)
Force gauge
Joint #4
motor unit

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English