Epson SCARA ROBOT User Manual

Maintenance 8. Arm #4
156 G6 Rev.21
U1 belt
Installation
(1)
Set the U1 belt around the U1 pulley and U2
large pulley
(upper side) so that the gear
grooves of
the belt are fit into those of the
pulleys
completely.
U1 belt
U2 large pulley
U1 pulley
(2)
Set the U2 belt around the U3 pulley and U2
small pulley
so that the gear grooves of the belt
are fit into those of the pulleys
completely.
U2 belt
U2 small pulley
U3 pulley
(3)
Loosely secure the Joint #4 intermediate shaft
unit, Joint #4 motor unit to Arm #2 in this order.
Make sure that
the gear grooves of the belt are
fit into those of the pulleys
completely.
6-M4×12 + Washer
Joint #4
Intermediate
shaft unit
Joint #4
motor unit
Loosely secure the unit
s to Arm #2 so that the motor unit can be
moved by hand, and
it
will not tilt when pulled. If the units are secured too loose or
too tight, the belt
will not have the proper
tension.
(4)
Apply the proper tension to the
U2 belt, and
then secure the Joint #
4 intermediate shaft unit.
To do so, pass 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.
2-M4
×12 + Washer
Force gauge
Joint #4
Intermediate
shaft unit
U2 belt tension = 130 N
(13.2
kgf)
(5)
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.
4-M4×12 + Washer
U1 belt tension = 70 N (7
.1
kgf)
Force gauge
Joint #4
motor unit

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English