Epson SCARA ROBOT Manipulator Manual page 157

(1) Pass a new Z belt through the shaft from above,
Z belt
Installation
(2) Loosely secure the spline plate to Arm #2.
(3) Set the Joint #3 motor unit in the arm so that
(4) Place the Z belt around the Z1 pulley and the Z2
(5) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE

(6) Apply the proper tension to the Z belt, and then
(7) Connect the connectors.
(8) Re-bundle the cables in their original positions with a wire tie removed in step (5).
(9) Install the arm top cover and the arm bottom cover.
(10) Perform the calibration of Joint #3.
G6 Rev.21
and then place it under the spline plate.
After moving the shaft up and down several
times, secure the spline plate to Arm #2.
motor cable faces toward the back of the arm.
pulley so that the gear grooves of the belt are fit
into those of the pulleys completely.
Loosely secure the Joint #3 motor unit to Arm #2 so that 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.
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.
Connectors X231, X31, X32, X63
Do not allow unnecessary strain on the cables.
For details, refer to Maintenance: 3. Covers.
For details, refer to Maintenance: 13. Calibration.
Maintenance 7. Arm #3
3-M4×12
Z belt
Spline plate
Joint #3
4-M4×12
motor unit
+ Washer
Joint #3
motor unit
Z belt
Z2 pulley
Z1 pulley
Z belt tension = 80 N (8.2 kgf)
Joint #3
motor unit
Force gauge
4-M4×12 + Washer
145