Epson G3 Series User Manual

Maintenance 8. Arm #4
G3 Rev.14 139
(6)
Loosely secure the Joint #4
intermediate
unit with screws.
Make sure 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.
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)
Place the
Joint#4 motor unit around the
U1 belt. Put the Joint #4 motor unit on
the Arm #2 top surface.
Put the Joint #4 motor cable toward the
end of Arm #2.
(8)
Loosely secure the Joint #4 motor unit to
Arm #2.
Make sure
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
(9)
Loosely secure the spline plate to Arm #2.
After moving the shaft up and down
several times, secure the spline plate to Arm #2.
(10)
Apply the proper tension to the U2 belt, and
then secure the Joint #4 intermediate shaft
unit.
To do so, p
ass a suitable cord or string around
the Joint #
4 intermediate shaft 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
U2 belt tension
= 98 N (10 ± 1 kgf
)
Force gauge
Joint #4 intermediate shaft
(11)
Apply the proper tension to the U1 belt, and
then secure the Joint #4 motor unit.
P
ass 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

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English