Epson E2C Series Manipulator Manual page 167

(3) Place the Joint #3 motor unit back on Arm
(4) Place the Z belt around the Z1 and Z2
(5) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE
(6) Apply the proper tension to the Z belt, and
(7) Mount the duct plate on Arm #2.
(8) Connect the connectors X131, X31 and X32.
(9) Re-bundle the cables in their original positions with a wire tie.
(10) Install the arm top cover.
(11) Perform the calibration of Joint #3.
E2C Rev.6
#2.
pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
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.
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, pull 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 pulley.
Do not allow unnecessary strain on the cables.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
For details on the calibration method, refer to Maintenance: 14. Calibration.
Maintenance 8. Replacing the Timing Belts (Z Belt)
Z belt
4-M4×12
+Washer,
Spring washer
Tension of Z belt: 39.2 N (4 kgf)
Adjustable range:
4-M4×12+Washer, Spring washer
Pulley
Joint #3 motor unit
Motor plate
29.4–49.0 N (3–5 kgf)
155