Epson E2C Series Manipulator Manual page 170

Maintenance 8. Replacing the Timing Belts (U1 Belt)
(6) Apply the proper tension to the U1 belt,
(7) Mount the duct plate on Arm #2.
(8) Install the arm top cover.
(9) Perform the calibration of Joints #3 and #4.
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and then 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.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
For details on the calibration method, refer to Maintenance: 14. Calibration.
Tension of U1 belt: 39.2 N (4 kgf)
Adjustable range:
29.4–49.0 N (3–5 kgf)
4-M4×12+Washer, Spring washer
E2C Rev.6