Epson G20 Series User Manual

Maintenance 10. Ball Screw Spline Unit
G10 / G20 Rev.20 203
(12)
Place the
U belt around the U1 pulley and the U2
pulley so that the gear grooves of
the belt are fit
into those of the pulleys
completely.
U belt
U2 pulley
U1 pulley
(13)
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
(14)
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
(15)
When you use the plate of
4-point mounting,
m
ount the plate without pressing it to the Joint #4
motor.
When you use the plate of
3-point mounting,
mount
the plate with pressing it to the 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
G10

NOTE

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English