Epson E2C Series Manipulator Manual page 169

Installation
(1) Place the Joint #4 counter shaft unit back on Arm #2.
(2) Place a new U1 belt around the U1 and
(3) Place the U2 belt around the small U2
(4) Loosely secure the Joint #4 counter shaft
NOTE
(5) Apply the proper tension to the U2 belt,
E2C Rev.6
large U2 pulleys (upward).
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
pulley (downward).
Make sure that the gear teeth of the belt
mesh with the pulley completely.
unit and motor unit to Arm #2 in the
following order:
Joint #4 counter shaft unit
↓
Joint #4 motor unit
Be careful not to move the engagement
between the gear teeth of the belt and the
pulleys.
Loosely secure the units to Arm #2 so that the motor units can be moved by hand,
and they will not tilt when pulled. If the units are secured too loose or too tight, the
belts will not have the proper tension.
and then secure the Joint #4 counter shaft
unit.
To do so, pass a suitable cord or string
around the Joint #4 counter 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.
Maintenance 8. Replacing the Timing Belts (U1 Belt)
U2 belt
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
Tension of U2 belt: 98.0 N (10 kgf)
Adjustable range:
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
Large U2 U1 pulley
pulley
Small U2
pulley
4-M4×12
+Washer,
Spring washer
Joint #4 counter Joint #4
shaft unit motor unit
88.2–107.8 N (9–11 kgf)
U1 belt
157