Epson SCARA ROBOT Manipulator Manual page 164

Maintenance 8. Arm #4
(1) Mount the motor plate to the Joint #4 motor.
Joint #4 motor
Installation
(2) Secure the pulley to the new Joint #4 motor.
(3) Place the Joint #4 motor unit in the arm so that
(4) Place the U1 belt around the U1 pulley and the
(5) Loosely secure the Joint #4 motor unit to Arm
NOTE

(6) Apply the proper tension to the U1 belt, and
(7) Connect the connectors.
152
Be sure to fit the end face of the pulley to the
end face of the motor shaft.
Tighten one of the set screws on the flat face of
the motor shaft until the screw just touches the
surface.
Insert a bushing into the other set screw hole to
prevent damage to the motor shaft.
tighten both set screws.
the motor cable faces toward the left of the arm.
U2 large pulley (upper side) so that the gear
grooves of the belt are fit into those of the
pulleys completely.
#2.
Loosely secure the Joint #4 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.
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.
Connectors X241, X41, X42, and X64. (X42:G6-**3** only)
Then,
U1 belt
U2 large pulley
U1 pulley
U1 belt tension = 70 N (7.1 kgf)
Joint #4
motor unit
4-M4×12 + Washer
Motor plate
2-M4×8
M4 bushing
2-M4×8
set screw
2-M4×12
+ Washer
Joint #4 motor
Force gauge
G6 Rev.21