Epson G20 series Manipulator Manual page 215

(12) Place the U belt around the U1 pulley and the U2
(13) Loosely secure the Joint #4 motor unit to Arm #2.
NOTE

(14) Apply the proper tension to the Z belt and U belt, and then secure the Joint #3
(15) When you use the plate of 4-point mounting,
NOTE

G10 / G20 Rev.20
pulley so that the gear grooves of the belt are fit
into those of the pulleys completely.
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.
motor unit and Joint #4 motor unit.
To do so, pass a suitable cord or string around the 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.
G10 : Z belt tension = 130 N (13.3 kgf)
Joint #3
motor unit
4-M4×15 + Washer
mount the plate without pressing it to the Joint #4
motor.
When you use the plate of 3-point mounting,
mount the plate with pressing it to the motor.
When mounting the battery unit, be sure to keep
the connectors connected to the battery unit.
If connectors of the
disconnected, you need to perform calibration
again.
Maintenance 10. Ball Screw Spline Unit
G10 : U belt tension = 160 N (16.3 kgf)
Joint #4
motor unit
Force gauge
battery unity are
U belt
U2 pulley U1 pulley
4-M4×15
+ Washer
Joint #4
motor unit
Force gauge
4-M4×15 + Washer
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
G10
Battery unit
Plate
203