Epson E2C Series, Manipulator Manual, Page: 172 / 208

Maintenance 8. Replacing the Timing Belts (U2 Belt)
160 E2C Rev.6
(7) Loosen the bolts securing the Joint #4
motor unit.
If there is a wire tie securing cables to the
Joint #4 motor, cut off it.
(8) Remove the Joint #4 counter shaft unit.
To do so, unscrew the bolts securing the
Joint #4 counter shaft unit.
Move the Joint #4 motor unit to the shaft
side and remove the Joint #4 counter shaft
unit from the U1 and U2 belts.
4-M4
×
1 2
+Washer,
Spring washer
Joint #4
motor unit
2-M4 × 1 2+Washer, Spring washer
M5 × 8 double-sems screw
Joint #4 counter
shaft unit
(9) Remove the U2 belt.
To do so, unscrew the bolts securing the
spline plate. Then, lift the spline plate
and pull the U2 belt out of the shaft.
U2 belt
Spline plate
3-4× 1 2
+Washer (Small)
Installation
(1) Pass a new U2 belt through the shaft from
above. Then, place it under the 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.
U2 belt
Spline
plate
3-M4
×
1 2
+Washer
(Small)
(3) Place the Joint #4 counter shaft unit back
on Arm #2.
(4) Place the U2 belt around the U3 and small
U2 pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
U2 belt
Joint #4 counter shaft unit
U3 pulley
Small U2 pulley