Epson G20 Series User Manual

Maintenance 7. Arm #3
160 G10 / G20 Rev.20
7.2.1 Replacing the Timing Belt : G10
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Z
belt
Removal : G10
(1)
Execute the removal steps from (1) to (10) in
Maintenance 7.1 Replacing Joint #3
Motor
to remove the Joint #3 motor.
Do not remove the brake unit from Arm #2.
(2)
R
emove the Joint #4 motor unit from Arm #2.
P
ull out the U belt from the U1 pulley to remove
it
.
4-M4×15
Joint #4
motor unit
(3)
Remove the brake hub.
Loosen the two set screws and pull out the brake
hub.
2-M3×4
set screw
Brake hub
(4)
Remove the brake.
There is a
wave washer between the housing and
the
bearing. Be careful not to lose it.
The gear for Z axis is a backlash
-less gear. Be
sure to keep the gear and pinion engage.
4-M4×12
Brake
Wave washer
Bearing
If the gear is out of joint, refer to step (7) in
Ball Screw Spline Unit Installation
of
Maintenance 10.2.1 Replacing the Ball Screw Spline Unit: G10
to engage the gear.
(5)
Remove the Z belt.
Remove the bolts securing the spline plate.
Hold
the spline plate and pull out the Z belt from
the shaft upwards
.
3-M5×15
Z belt
Spline plate

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English