Epson SCARA ROBOT

Maintenance 8. Arm #4
G6 Rev.21 161
(8)
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)
(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.
4-M4×12 + Washer
U1 belt tension = 70 N (7.1 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 figure on
the right.
Make sure that the brake cables do not
touch the
pulley.
4-M4×12 + Washer
Z belt tension = 80 N (8.1 kgf)
Force gauge
Joint #3
motor unit
(11)
Connect the connectors
.
Connectors X231, X31, X32, X63.
(12)
Re
-bundle the cables in their original positions with a wire tie removed in step (5).
Do not allow unnecessary strain on the cables.
(13)
Install the arm
top cover and arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(14)
Perform the
calibration of Joints #3 and #4.
For details, refer to Maintenance: 13. Calibration.