Epson G3 Series User Manual

Maintenance 8. Arm #4
136 G3 Rev.14
8.2 Replacing the Timing Belt
Name Quantity Note
Maintenance
parts
U1 belt (width 10 mm)
1
R13B030214
U2 belt (width 16 mm)
1
R13B030215
Tools
Hexagonal wrench (width across flats: 3 mm)
1
For M4 screw
Spanner (width across flats: 7 mm)
1
Torque wrench
1
Force gauge 1
Belt tension
98N (10 kgf) / 74N (7.5kgf)
Nippers
1
For cutting wire tie
Suitable cord (Length about 800 mm)
1
For belt tension
A brake is mounted on the motor of Joint #3 to prevent the shaft from lowering 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 from (1) to (3).
U2
belt
Removal
(1)
Turn ON the Controller.
(2)
Push down the shaft to its lower limit while pressing the brake release switch. Be
sure to keep enough space and prevent the
end effector
hitting any peripheral
equipment.
The brake release switch affects only Joint #3. When the brake release switch is
pressed, the brake for Joint #3 is released simultaneously.
Be careful of the
shaft while the brake release switch is being pressed because
the
shaft may be lowered by the weight of an end effector
.
(3)
Tu
rn OFF the Controller.
(4)
Remove the arm
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
(5)
Remove
the battery board and mounting metal
jig.
2-M4×5
Battery board
2-M4×12
(6)
Remove the user plate and ground wire
secured
on Arm #2.
(7)
Cut off a wire tie bundling the motor cables and
signal cables.
(8)
Disconnect the following connectors.
Connectors X231, X241, X31, X32, X41 (Hold the claw to remove.)
Connector X63, X64 (for backup cable connector of Joint #3 and 4)

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English