G20 - Epson G20 series Manipulator Manual

Maintenance 10. Ball Screw Spline Unit
(8) Apply the proper tension to the Z belt and U
(9) When you use the plate of 4-point mounting,
NOTE

(10) Re-bundle the cables in their original positions with a wire tie removed in the removal
(11) If the position of the lower limit mechanical stop was changed for area limit, secure it
(12) Grease the shaft.
(13) Install the arm top cover and arm bottom cover.
(14) Turn OFF the Controller and peripheral equipment.
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belt, and then secure the Joint #3 motor unit
and Joint #4 motor unit.
To do so, pass a suitable cord or string
around each 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.
mount the plate without pressing it to the
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 battery unity are
disconnected, you need to perform
calibration again.
procedure.
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.
G20 : Z belt tension = 130 N (13.3 kgf)
Joint #3
motor unit
4-M4×15 + Washer
G20 : U belt tension = 200 N (20.4 kgf)
Joint #4
motor unit
4-M4×15 + Washer
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Battery unit
Plate
G10 / G20 Rev.20
Force gauge
Force gauge