Epson E2C Series Manipulator Manual page 161

(6) Secure the pulley to the motor shaft of the
(7) After the pulley is secured, pull out the gap gauge.
(8) Fasten the brake cables to the Joint #3 motor with a wire tie.
(9) Place the Joint #3 motor unit back on the
(10) Place the Z belt around the Z1 pulley and
(11) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE
(12) Apply the proper tension to the Z belt, and
E2C Rev.6
Joint #3 motor.
To do so, tighten one of the setscrews to
the flat face of the motor shaft until the
screw just touches the surface. Insert a
bushing into the other setscrew hole to
prevent damage to the motor shaft. Then,
tighten both setscrews.
Arm #2.
Make sure that the brake cables do not
touch the pulley when installing the Joint
#3 motor unit to Arm #2.
Z2 pulley.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
Loosely secure the Joint #3 motor unit to Arm #2 so that 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.
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.
Maintenance 7. Replacing the Brake
M4×8
Flat point
setscrew
(Flat side)
Pulley
Z belt
Pulley
4-M4×12
+Washer,
Joint #3 motor unit
Spring washer
Motor plate
Tension of Z belt: 39.2 N (4 kgf)
Adjustable range:
29.4–49.0 N (3–5 kgf)
4-M4×12+Washer, Spring washer
M4×8
Flat point
setscrew
(Round chamfer
side)
Bushing
149