Epson E2C Series Manipulator Manual page 174

Maintenance 8. Replacing the Timing Belts (U2 Belt)
(10) Apply the proper tension to the U1 belt,
(11) Apply the proper tension to the Z belt, and
(12) Mount the duct plate on Arm #2.
(13) Connect the connectors X131, X31 and X32.
(14) Re-bundle the cables in their original positions with a wire tie.
(15) Install the arm top cover.
(16) Perform the calibration of Joints #3 and #4.
162
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.
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.
Do not allow unnecessary strain on the cables.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
For details on the calibration method, refer to Maintenance: 14. Calibration.
Tension of U1 belt: 39.2 N (4 kgf)
Adjustable range:
29.4–49.0 N (3–5 kgf)
4-M4×12+Washer, Spring washer
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
E2C Rev.6