Epson G20 Series User Manual

Maintenance 7. Arm #3
158 G10 / G20 Rev.20
(5)
Apply the proper tension to the Z belt, and then 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.
4-M4×15 + Washer
G10 : Z belt tension = 130 N (13.3 kgf)
Force gauge
Joint #3
motor unit
4-M4×15 + Washer
G20 : Z belt tension = 130 N (13.3 kgf)
Force gauge
Joint #3
motor unit
(6)
When you use the plate of 4
-point
mounting, mount the plate.
When you use the plate of 3
-point mounting,
mount the plate with pressing it to the motor
side*.
*
G10 series: Joint #4 motor side
G20 series: Joint #3 motor side
When mounting the battery unit mounting
bolts, 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.
4-point mounting
4-M4×10
Plate
Battery unit
G10
G20
3-point mounting
Plate
Battery
unit
G10
G20
(7)
Connect the connectors X231, X31, and X63.
(8)
Re
-bundle the cables in their original positions with a wire tie removed in step (5).
Do not
allow unnecessary strain on the cables.
(9)
Install the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(10)
Perform the calibration of Joint #3.
For details on the calibration method, refer to Maintenance: 14. Calibration.

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English