Epson E2C Series, Manipulator Manual, Page: 186 / 208

Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
174 E2C Rev.6
(4) Place the Joint #4 counter shaft unit back
on Arm #2.
(5) Place the U2 belt around the U3 and small
U2 pulleys (downward).
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
(6) Place the U1 belt around the U1 and large
U2 pulleys (upward).
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
U1 belt
U1 pulley
Large U2 pulley
(7) Place the Joint #3 motor unit back on Arm
#2.
(8) Place the Z belt around the Z1 and Z2
pulleys.
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
Z belt
Z1 pulley Z2 pulley
Joint #3 motor unit
(9) Loosely secure the Joint #3 motor unit,
Joint #4 counter shaft unit, and Joint #4
motor unit to Arm #2 in the following
order:
Joint #3 motor unit
↓
Joint #4 counter shaft unit
↓
Joint #4 motor unit
Make sure that the gear teeth of the belt
mesh with the pulleys completely.
4-M4
×
12+Washer,
Spring washer
Joint #4
motor unit
2-M4
×
12+Washer, Spring washer
M5
×
8 double-sems screw
Joint #4 counter shaft unit
Joint #3
motor unit
4-M4
×
12+Washer,
Spring washer
Loosely secure the units to Arm #2 so that the motor units can be moved by hand,
and they will not tilt when pulled. If the units are secured too loose or too tight, the
belts will not have the proper tension.
)
NOTE