Epson E2C Series Manipulator Manual page 186

Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
(4) Place the Joint #4 counter shaft unit back
(5) Place the U2 belt around the U3 and small
(6) Place the U1 belt around the U1 and large
(7) Place the Joint #3 motor unit back on Arm
(8) Place the Z belt around the Z1 and Z2
(9) Loosely secure the Joint #3 motor unit,
NOTE
174
on Arm #2.
U2 pulleys (downward).
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
U2 pulleys (upward).
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.
Joint #4 counter shaft unit
U2 belt
Small U2 pulley
U3 pulley
Large U2 pulley
Joint #3 motor unit
Z belt
Z2 pulley Z1 pulley
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
4-M4×12+Washer,
4-M4×12+Washer,
Spring washer
Spring washer
Joint #3
motor unit
Joint #4 counter shaft unit
U1 belt
U1 pulley
Joint #4
motor unit
E2C Rev.6