Epson SCARA ROBOT Manipulator Manual page 187

(7) Set the U2 belt around the U3 pulley and U2
(8) Loosely secure the Joint #3 motor unit, Joint #4
NOTE

(9) Apply the proper tension to the U2 belt, and then
(10) Apply the proper tension to the U1 belt, and then
G6 Rev.21
small pulley so that the gear grooves of the belt
are fit into those of the pulleys completely.
intermediate shaft 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 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 #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.
If the string is touching the battery board,
remove mounting screw for the battery board to
put it aside.
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.
Maintenance 10. Ball Screw Spline Unit
U2 belt
U3 pulley
Joint #4
motor unit
10-M4×12
+ Washer
U2 belt tension = 130 N (13.2 kgf)
Joint #4
Intermediate
shaft unit
2-M4×12 + Washer
U1 belt tension = 70 N (7.2 kgf)
Joint #4
motor unit
Battery board
U2 small pulley
Joint #4
Intermediate
shaft unit
Joint #3
motor unit
Force gauge
Battery board
Force gauge
4-M4×12 + Washer
175