Tightening Hexagon Socket Head Cap Bolts; Matching Origins - Epson SCARA ROBOT Manipulator Manual

Maintenance 2. General Maintenance

2.4 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts are used in places where mechanical strength is required.
(A hexagon socket head cap bolt will be called a "bolt" in this manual.) These bolts are
fastened with the tightening torques shown in the following table.
When it is necessary to refasten these bolts in some procedures in this manual (except
special cases as noted), use a torque wrench so that the bolts are fastened with the
appropriate tightening torques as shown below.
Bolt
M3
M4
M5
M6
M8
M10
M12
The bolts aligned on a circumference should be fastened in a crisscross pattern as shown in
the figure below.
Bolt hole

2.5 Matching Origins

After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch
exists between the origin stored in each motor and its corresponding origin stored in the
Controller. After replacing the parts, it is necessary to match these origins.
For calibration, the pulse values for a specific position must be recorded in advance.
Before replacing parts, select easy point (pose) data from the registered point data to check
the accuracy. Then, follow the steps below to display the pulse values and record them.
Execute the following command from the [Command Window].
EPSON
RC+
>PULSE
PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value]
pls [Joint #4 Pulse value] pls
90
Tightening Torque
2.0 ± 0.1 N⋅m (21 ± 1 kgf⋅cm)
4.0 ± 0.2 N⋅m (41 ± 2 kgf⋅cm)
8.0 ± 0.4 N⋅m (82 ± 4 kgf⋅cm)
13.0 ± 0.6 N⋅m (133 ± 6 kgf⋅cm)
32.0 ± 1.6 N⋅m (326 ± 16 kgf⋅cm)
58.0 ± 2.9 N⋅m (590 ± 30 kgf⋅cm)
100.0 ± 5.0 N⋅m (1,020 ± 51 kgf⋅cm)
1
5
8
3
6
7
2
Refer below for the set screw.
Set Screw
M4
M5
Do not fasten all bolts securely at one time.
Divide the number of times that the bolts are
fastened into two or three and fasten the bolts
securely with a hexagonal wrench. Then, use a
4
torque wrench so that the bolts are fastened with
tightening torques shown in the table above.
Tightening Torque
2.4 ± 0.1 N⋅m (26 ± 1 kgf⋅cm)
3.9 ± 0.2 N⋅m (40 ± 2 kgf⋅cm)
G6 Rev.21