Epson G6 series, Руководство манипулятора, Страница: 164 / 216

Maintenance 8. Arm #4
152 G6 Rev.21
Joint #4 motor
Installation (1) Mount the motor plate to the Joint #4 motor.
2-M4 × 8
Motor plate
(2) Secure the pulley to the new Joint #4 motor.
Be sure to fit the end face of the pulley to the
end face of the motor shaft.
Tighten one of the set screws on the flat face of
the motor shaft until the screw just touches the
surface.
Insert a bushing into the other set screw hole to
prevent damage to the motor shaft. Then,
tighten both set screws.
2-M4 × 8
set screw
M4 bushing
(3) Place the Joint #4 motor unit in the arm so that
the motor cable faces toward the left of the arm.
2-M4 × 12
+ Washer
Joint #4 motor
U2 large pulley
U1 belt
U1 pulley
(4) Place the U1 belt around the U1 pulley and the
U2 large pulley (upper side) so that the gear
grooves of the belt are fit into those of the
pulleys completely.
(5) Loosely secure the Joint #4 motor unit to Arm
#2.
Loosely secure the Joint #4 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 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 (7.1 kgf)
Force gauge
Joint #4
motor unit
(7) Connect the connectors.
Connectors X241, X41, X42, and X64. (X42:G6-**3** only)

NOTE