Epson LS20-B Series User Manual

Maintenance 8. Joint #4
134 L
S20-B Rev.4
(7)
Apply the proper tension to the U belt,
and
then secure the Joint #4 motor unit.
U
belt tension
: 206 N (21.0 ± 0.75 kgf)
Axial tension (when being pulled): 412 N
T
o apply tension to the Joint #4 motor unit,
use the bolt at
the front of the plate.
M4 Bolt
Joint #4
Motor Unit
Plate
M4 Nut
(7)
-1
Loosen the nut and turn the bolt.
Push in the Joint #4 motor unit
plate
slowly.
(7)
-2
After fixing the Joint #4 motor
unit,
turn the bolt to leave from
the plate.
(7)
-3
Check the
tension using the sonic tension meter.
For details, refer to Maintenance 8.5 Checking the Timing Belt Tension.
(7)
-4
Repeat the steps (7)
-1 through (7)-3 until you get appropriate tension.
(7)
-5
After the adjustment, put the bolt back to its
original position and fix it with
the nut.
(8)
Connect the following connectors
.
Connectors: X231, X241, X43, X44, X51, BR3, BR4
(9)
M
ount the User Plate and the Duct Plate.
For details, refer to Maintenance 3. Covers.
(10)
Bind the cables with
new wire ties at their original positions as before in the removal
step (5).
Bind the cables with the clip band.
Do not allow unnecessary strain on
the cables.
(11)
Install
the Arm Top Cover.
For details, refer to Maintenance: 3.1 Arm Top Cover.
(12)
Check if the Joint
s #3, #4
moves in a Jog motion by operating from EPSON RC+ menu
-
[Tools]-[Robot Manager]-[Jog & Teach].
If the Manipulator oscillates with MotorON and the following errors are detected,
E
rror 5041: Motor torque output failure in low power state.
Error 4241: Over speed during low power mode was detected.
or when the joint other than Joint
s #3, #4
moves, the connector for the other joint might
be
connected to the Joints #3, #4 motor. Check the connector connection.
(13)
Execute the calibration for Joint #3, 4.
F
or details on the calibration method, refer to Maintenance: 13. Calibration.

NOTE

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English