Epson G Series Maintenance Manual page 469

(7) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE

(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
G series Maintenance Rev.3
Loosely secure the Joint #3 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.
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.
G10 G20 Maintenance 10. Ball Screw Spline Unit
G20 : Z belt tension = 130 N (13.3 kgf)
Joint #3
motor unit
G20 : U belt tension = 200 N (20.4 kgf)
Joint #4
motor unit
4-M4×15
Joint #4
+ Washer
motor unit
Force gauge
4-M4×15 + Washer
Force gauge
4-M4×15 + Washer
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Battery unit
Plate
451