Maintenance 2. General Maintenance

2.4 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.

When it is necessary to refasten these bolts in some procedures in this manual (except special cases as noted), use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below.

Bolt

Tightening Torque

M3

245 Ncm

(25 kgfcm)

M4

490 Ncm

(50 kgfcm)

M5

980 Ncm

(100 kgfcm)

M6

1,760

Ncm

(180 kgfcm)

M8

3,720

Ncm

(380 kgfcm)

M10

7,350

Ncm

(750 kgfcm)

M12

12,740

Ncm

(1,300 kgfcm)

Refer below for the set screw.

Set Screw

Tightening Torque

M4

245 Ncm

(25 kgfcm)

M5

392 Ncm

(40 kgfcm)

We recommend that the bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below.

1

5

8

Bolt hole

3

4

7

6

 

2

Do not fasten all bolts securely at one time. Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above.

2.5 Matching Origins

EPSON

RC+

After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the Controller. After replacing the parts, it is necessary to match these origins.

The method of calibration is different depending on the software used. Refer to Maintenance: 13. Calibration and follow the steps that pertain to the software you are using.

For calibration, the pulse values for a specific position must be recorded in advance. Before replacing parts, select easy point (pose) data from the registered point data to check the accuracy. Then, follow the steps below to display the pulse values and record them.

Execute the following command from the [Command Window].

>PULSE

PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls

G3 Rev.1

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Epson G3 Series manual Tightening Hexagon Socket Head Cap Bolts, Matching Origins, Bolt Tightening Torque