Epson G Series Maintenance Manual page 313

(8) Apply the proper tension to the U2 belt, and
(9) Apply the proper tension to the U1 belt, and
(10) Apply the proper tension to the Z belt, and then
(11) Connect the connectors.
(12) Re-bundle the cables in their original positions with a wire tie removed in step (5).
(13) Install the arm top cover and arm bottom cover.
(14) Perform the calibration of Joints #3 and #4.
G series Maintenance Rev.3
then secure the Joint #4 intermediate shaft unit.
To do so, pass a suitable cord or string around
the Joint #4 intermediate shaft 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.
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.
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, X32, X63.
Do not allow unnecessary strain on the cables.
For details, refer to 3. Covers.
For details, refer to 13. Calibration.
G6 Maintenance 8. Joint #4
U2 belt tension = 130 N (13.2 kgf)
Joint #4
Intermediate
shaft unit
Force gauge
2-M4×12 + Washer
U1 belt tension = 70 N (7.1 kgf)
Joint #4
motor unit
Force gauge
4-M4×12 + Washer
Z belt tension = 80 N (8.1 kgf)
Joint #3
motor unit
Force gauge
4-M4×12 + Washer
295