Epson SCARA ROBOT User Manual

Maintenance 7. Arm #3
G6 Rev.21 145
Z belt
Installation
(1)
Pass
a new Z belt through the shaft from above,
and then place it under the spline plate.
3-M4×12
Z belt
Spline plate
(2)
Loosely secure the spline plate to Arm #2.
After moving the shaft up
and down several
times, secure the spline plate to Arm #2.
(3)
Set the Joint #3 motor unit in the arm so that
motor cable faces toward the back of the arm.
4-M4×12
+ Washer
Joint #3
motor unit
(4)
Place the Z belt around the Z1 pulley and the Z2
pulley so that the gear grooves of the belt are fit
into those of the pulleys completely.
Joint #3
motor unit
Z belt
Z2 pulley
Z1 pulley
(5)
Loosely secure the Joint #3 motor unit to Arm
#2.
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.
(6)
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, p
ull 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 pulle
y.
4-M4×12 + Washer
Z belt tension = 80 N (8.2 kgf)
Force gauge
Joint #3
motor unit
(7)
Connect the connectors
.
Connectors X231, X31, X32, 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, refer to Maintenance: 13. Calibration.

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English