Epson E2C Series Manipulator Manual page 187

(10) Apply the proper tension to the U2 belt,
(11) Apply the proper tension to the U1 belt,
(12) Apply the proper tension to the Z belt, and
(13) Mount the duct plate on Arm #2.
(14) Connect the connectors X131, X31 and X32.
(15) Re-bundle the cables in their original positions with a wire tie.
(16) If the position of the lower limit mechanical stop has been changed because of the
(17) Install the arm top cover and arm bottom cover.
E2C Rev.6
Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
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.
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.
area limit, secure the mechanical stop to its proper position.
For details on the installation method, refer to Maintenance: 3. Removing and
Installing the Covers.
Tension of U2 belt: 98.0 N (10 kgf)
Adjustable range:
88.2–107.8 N (9–11 kgf)
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
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
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