Epson SCARA ROBOT Manipulator Manual page 186

Maintenance 10. Ball Screw Spline Unit
(1) Pass the U2 belt and Z belt through the shaft and
Ball screw
spline unit
Installation
(2) Secure the nut mounting screws of the ball
(3) Loosely secure the spline plate to Arm #2.
(4) Place the Joint #3 motor unit back to Arm #2.
(5) Set the Z belt around the Z1 pulley and Z2
(6) Set the U1 belt around the U1 pulley and U2
174
mount the ball screw spline unit to Arm #2.
screw spline shaft on lower side of Arm #2.
Be sure to keep the timing belt from being stuck
between the nut and Arm #2.
After moving the shaft up and down several
times, secure the spline plate to Arm #2.
pulley so that the gear grooves of the belt are fit
into those of the pulleys completely.
large pulley (upper side) so that the gear grooves
of the belt are fit into those of the pulleys
completely.
U2 belt
Z belt
4-M4×12
3-M4×12
Z belt
U2 belt
Spline plate
Joint #3
motor unit
Z belt
Z2 pulley
Z1 pulley
U1 belt
U2 large pulley
U1 pulley
G6 Rev.21