Epson E2C Series Manipulator Manual page 172

Maintenance 8. Replacing the Timing Belts (U2 Belt)
(7) Loosen the bolts securing the Joint #4
(8) Remove the Joint #4 counter shaft unit.
(9) Remove the U2 belt.
Installation
(1) Pass a new U2 belt through the shaft from
(2) Loosely secure the spline plate to Arm #2.
(3) Place the Joint #4 counter shaft unit back
(4) Place the U2 belt around the U3 and small
160
motor unit.
If there is a wire tie securing cables to the
Joint #4 motor, cut off it.
To do so, unscrew the bolts securing the
Joint #4 counter shaft unit.
Move the Joint #4 motor unit to the shaft
side and remove the Joint #4 counter shaft
unit from the U1 and U2 belts.
To do so, unscrew the bolts securing the
spline plate. Then, lift the spline plate
and pull the U2 belt out of the shaft.
above. Then, place it under the spline
plate.
After moving the shaft up and down
several times, secure the spline plate to
Arm #2.
on Arm #2.
U2 pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
2-M4×12+Washer, Spring washer
M5×8 double-sems screw
4-M4×12
+Washer,
Spring washer
Joint #4 counter
shaft unit
3-4×12
U2 belt
+Washer (Small)
Spline plate
Spline
plate
3-M4×12
+Washer
(Small)
U2 belt
Joint #4 counter shaft unit
U2 belt
Small U2 pulley
U3 pulley
Joint #4
motor unit
E2C Rev.6