Epson SCARA ROBOT User Manual

Maintenance 10. Ball Screw Spline Unit
G6 Rev.21 175
(7)
Set the U2 belt around the U3 pulley and U2
small pulley
so that the gear grooves of the belt
are fit into those of the pulleys
completely.
U2 belt
U2 small pulley
U3 pulley
(8)
Loosely secure the Joint #3 motor unit, Joint #4
intermediate shaft unit, Joint #4 motor unit to
Arm #2 in this order.
Make sure that
the gear grooves of the belt are
fit into those of the pulleys
completely.
10-M4×12
+ Washer
Joint #4
Intermediate
shaft unit
Joint #4
motor unit
Joint #3
motor unit
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.
(9)
Apply the proper tension to the
U2 belt, and then
secure the Joint #
4 intermediate shaft unit.
To do so, pass a suitable cord or string
around
the Joint #
4 intermediate shaft 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.
If the string is touching the battery board,
remove
mounting screw for the battery board to
put it aside.
Joint #4
Intermediate
shaft unit
2-M4×12 + Washer
Force gauge
U2 belt tension = 130 N (13.2 kgf)
Battery board
(10)
Apply the proper tension to the
U1 belt, and then
secure the Joint #
4 motor unit.
To do so, pass a suitable cord or string
around
the Joint #
4 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.
4-M4×12 + Washer
U1 belt tension = 70 N (7.2 kgf)
Force gauge
Joint #4
motor unit
Battery board

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English