Epson SCARA ROBOT Manipulator Manual page 188

Maintenance 10. Ball Screw Spline Unit
(11) Apply the proper tension to the Z belt, and then
(12) Connect the connectors.
(13) Re-bundle the cables in their original positions with a wire tie removed in step (4).
(14) If the position of the lower limit mechanical stop was changed for area limit, secure it
(15) Grease the shaft.
(16) Install the arm top cover and arm bottom cover.
(17) Turn OFF the Controller and peripheral equipment.
(18) Install the end effector, and connect wires and tubes to the end effector.
(19) This step is only for Cleanroom-model and Protected-model (C, D with bellows
(20) Perform the calibration of Joints #3 and #4.
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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, and X32
Do not allow unnecessary strain on the cables.
to the proper position.
For details, refer to Maintenance: 10.1. Greasing the Ball Screw Spline Unit.
For details, refer to Maintenance: 3. Covers.
option, P).
Install the bellows.
For details, refer to Maintenance: 9. Bellows.
For details, refer to Maintenance: 13. Calibration.
Z belt tension = 80 N (8.1 kgf)
Joint #3
motor unit
Force gauge
Battery board
4-M4×12 + Washer
G6 Rev.21