Epson SCARA ROBOT Manipulator Manual page 168

Maintenance 8. Arm #4
(1) Set the U1 belt around the U1 pulley and U2
U1 belt
Installation
(2) Set the U2 belt around the U3 pulley and U2
(3) Loosely secure the Joint #4 intermediate shaft
NOTE

(4) Apply the proper tension to the U2 belt, and
(5) Apply the proper tension to the U1 belt, and
156
large pulley (upper side) so that the gear
grooves of the belt are fit into those of the
pulleys completely.
small pulley so that the gear grooves of the belt
are fit into those of the pulleys completely.
unit, Joint #4 motor unit to Arm #2 in this order.
Make sure that the gear grooves of the belt are
fit into those of the pulleys completely.
Loosely secure the units to Arm #2 so that the motor unit can be moved by hand, and
it will not tilt when pulled. If the units are secured too loose or too tight, the belt
will not have the proper tension.
then secure the Joint #4 intermediate shaft unit.
To do so, pass a suitable cord or string around
the Joint #4 intermediate 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.
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.
U1 belt
U2 large pulley
U1 pulley
U2 belt
U3 pulley
U2 small pulley
Joint #4
Joint #4
Intermediate
motor unit
shaft unit
6-M4×12 + Washer
U2 belt tension = 130 N (13.2 kgf)
Joint #4
Intermediate
shaft unit
Force gauge
2-M4×12 + Washer
U1 belt tension = 70 N (7.1 kgf)
Joint #4
motor unit
Force gauge
4-M4×12 + Washer
G6 Rev.21