Epson G20 Series User Manual

Maintenance 10. Ball Screw Spline Unit
208 G10 / G20 Rev.20
(8)
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
each 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
G20 : Z belt tension = 130 N
(13.3 kgf)
Force gauge
Joint #3
motor unit
4-M4×15 + Washer
G20 : U belt tension = 200 N (20.4 kgf)
Force gauge
Joint #4
motor unit
(9)
When you use the plate of
4-point mounting,
mount
the plate without pressing it to the
motor.
When you use the plate of 3
-point mounting,
mount the plate with pressing
it to the motor.
When mounting the battery unit, b
e 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
(10)
Re
-bundle the cables in their original positions with a wire tie
removed in the removal
procedure
.
Do not
allow unnecessary strain on the cables.
(11)
If the position of the lower limit mechanical stop was changed for area limit, secure it
to the proper position.
(12)
Grease the shaft.
For details, refer to Maintenance: 10.1. Greasing the Ball Screw Spline Unit.
(13)
Install the arm
top cover and arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(14)
Turn OFF the Controller and peripheral equipment.

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English