Epson G3 Series User Manual

Maintenance 7. Arm #3
G3 Rev.14 127
(6)
Put the pulley to
the U2 belt and place the
Joint #4 motor unit on the Arm #2 surface.
Make sure the motor cables face to the
end of the arm.
3-M4×12 + washer
Joint #4
motor unit
3-M4×12 + washer
Joint #3
motor unit
Joint #4
intermediate shaft
3-M4×12
+ washer
(7)
Loosely secure the Joint #4 motor unit to
Arm
#2.
Check that
the motor unit can be moved
by hand
, and it will not tilt when
pulled.
I
f the unit is secured too loose or too tight,
the belt will not have
the proper tension.
Joint #4
motor unit
U2 belt
U1 pulley
U1 belt
U2 pulley
(8)
Loosely secure
the spline plate to Arm #2.
After moving the shaft up and down several times, secure the spline plate to Arm #2.
(9)
Apply the proper tension to the U1 belt, and
then secure the Joint #4 motor unit.
To do so, pass
a suitable cord or string
around the Joint #4 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
.
3-M4×12
+ washer
U1 belt tension = 74 N (7.5 ± 0.5 kgf)
Force gauge
Joint #4
motor unit
(10)
Apply the proper tension
to the Z belt, and
then secure the Joint #3 motor unit.
To do so, pass
a suitable cord or string
around the Joint #3 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 fi
gure on the
right
.
3-M4×12 + washer
Z belt tension = 74 N (7.5 ± 0.5 kgf)
Force gauge
Joint #3
motor unit
(
11)
Connect the connectors
.
Connectors: X231, X241, X31, X32, X41

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English