Epson G20 Series User Manual

Maintenance 8. Arm #4
178 G10 / G20 Rev.20
(7)
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
(8)
When you use the plate of
4-point mounting, mount
the plate.
When you use the plate of 3
-point mounting, mount
the plate with pressing it to the Joint #4 motor.
When mounting the battery unit, be sure to keep the
connectors connected to the battery unit.
If connectors of the battery unity are disconnected,
you need to perform calibration again.
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Plate
Battery unit
(9)
Install the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(10)
Perform the calibration of Joint #3.
For details, refer to Maintenance: 14. Calibration.

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English