Epson VT6L User Manual

Maintenance 14. Joint #6
216 VT Rev.1
(3)
Apply proper tension to the motor unit and
fix it.
Joint #5 timing belt tension: 23 - 36N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 6.0mm
Span: 184mm
Hexagon socket head cap bolts: 3-M4×20 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new
belt, belt extends and the belt tension may decrease in
the initial stage.
Make sure to operate the robot two to three days and check the belt
tension again
(4)
Connect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A
B
(5)
Bind the following cables and the ground wire with
the
wire tie.
Wire tie: AB100
Motor cable (Joint #5)
Signal cable (Joint #5)
Motor cable (Joint #6)
Ground wire
(6)
Mount
the following covers.
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(7)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the manipulator
until it starts.
(8)
Calibrate the
Joint #6.
Reference: Maintenance 19. Calibration

NOTE

NOTE

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English