Epson LS10-B Series User Manual page 131

Joint #4 motor (1) Mount the motor plate to the Joint #4 motor.
Installation
(2) Mount the pulley to the Joint #4 motor.
(3) Place the pulley around the U1 belt and place
(4) Loosely secure the Joint #4 motor unit to Arm
NOTE

(5) Apply the proper tension to the U1 belt and secure the Joint #4 motor unit.
LS10-B Rev.6
At this point, the motor cables must be in the
convex shape side of the plate.
Be sure to fit the end face of the pulley to the end face of the motor shaft.
Be sure to set the one set of the set screws + bushing vertically on the flat face of the
motor shaft. Be careful not to damage the the motor shaft to tighten the bushing into
the other set screw hole.
the Joint #4 motor unit in the upper face of the
Arm #2.
#2.
Make sure the motor unit can be moved by hand, and it will not tilt when pulled.
If the unit is secured too loose or too tight, the belt will not have the proper tension.
Make sure the gear grooves of the belt are fit into those of the pulleys completely.
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.
U1 axial tension (pulling force): 114 N (11.6 ± 0.5 kgf)
U1 belt tension: 58 N (5.9 ± 0.5 kgf)
Maintenance 8. Joint #4
Joint #4
Motor Unit
Force gauge
3-M4×15
+ Washer
2-M4×70
+ Spacer
Motor Plate
Pulley
2-M4×8
Set Screw
+ Bushing
Joint #4
Motor Unit
3-M4×15
+ Washer
Motor Plate
119