Epson E2C Series Manipulator Manual page 173

(5) Place the U1 belt around the U1 and large
(6) Place the Joint #3 motor unit back on Arm
(7) Place the Z belt around the Z1 and Z2
(8) Loosely secure the Joint #3 motor unit,
NOTE
(9) Apply the proper tension to the U2 belt,
E2C Rev.6
U2 pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
#2.
pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
Joint #4 counter shaft unit, and Joint #4
motor unit to Arm #2 in the following
order:
Joint #3 motor unit
↓
Joint #4 counter shaft unit
↓
Joint #4 motor unit
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
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 (U2 Belt)
Z belt
Z2 pulley
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
4-M4×12+Washer,
Spring washer
Tension of U2 belt: 98.0 N (10 kgf)
Adjustable range:
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
Large U2 pulley
Joint #3 motor unit
Z1 pulley
4-M4×12+Washer,
Spring washer
Joint #3 Joint #4
motor unit motor unit
Joint #4 counter shaft unit
88.2–107.8 N (9–11 kgf)
U1 belt
U1 pulley
161