Epson G3 Series User Manual

Maintenance 8. Arm #4
134 G3 Rev.14
Joint #4 motor
Installation
(1)
Mount the motor plate to the Joint #4 motor.
Screw: 2-M4×8
(2)
Secure the pulley to the new
Joint #4 motor.
Be sure to fit the end face of the pulley to
the end face
of the motor shaft.
Tighten one of
the set screws on the flat face of the
motor shaft until the screw just
touches the surface.
2-M4×8
set screw
M4 bushing
Insert a bushing into the other set screw hole to prevent damage to the motor shaft.
Then, tighten
both set screws.
(3)
Place the pulley around the U2 belt and
p
lace the Joint #4 motor unit in the arm so
that the motor cable faces toward the
Arm
#2 head
.
3-M4×12 + washer
Joint #4
motor unit
3-M4×12 + washer
Joint #3
motor unit
Joint #4
Intermediate shaft
3-M4×12
+ washer
(4)
Loosely secure the Joint #4 motor unit to
Arm
#2.
Make sure
the motor unit can be moved
by hand
, and it will not tilt when pulled.
I
f the unit is secured too loose or too tight,
the belt will not have
the proper tension.
Also, check t
he gear grooves of the belt
are fit into those of the pulleys
completely.
Joint #4
motor unit
U2 belt
U1 pulley
U1 belt
U2 pulley
(5)
Apply the proper tension to the U1 belt
and secure
the Joint #4 motor unit.
Pass
a suitable cord or string around the
Joint #4 motor unit near its mounting
plate
.
Then, p
ull the cord using a force gauge or
similar tool to apply the specified tension
shown in the figure
.
3-M4×12
+ washer
U1 belt tension = 74 N (7.5 ± 0.5 kgf)
Force gauge
Joint #4
motor unit
(6)
Connect the connectors.
Connectors: X241, X41, X42

NOTE

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English