Maintenance 8. Arm #4
186 G10 / G20 Rev.20
Secure the brake hub with the two set screws.
Loosely secure the Joint #4 motor unit to Arm
Loosely secure the Joint #4 motor unit to Arm
the motor unit can be moved by hand, and it
not tilt when pulled. If the unit is secured too
or too tight, the belt will not have the proper
When you use the plate of 3
the plate with pressing it to the J
When mounting the battery unit, be sure to keep the
connectors connected to the battery unit.
If connectors of the battery unity are
you need to perform calibration again.
When you use the plate of 4
not have to mount the plate.
Apply the proper tension to the U belt, and
then secure the
a suitable cord or string around
the Joint #4 motor unit near its mounting plate
ull the cord using a force gauge or
similar tool to apply the specified tension
shown in the figure on the right
G10 : U belt tension = 160 N (16 kgf)
Connect the connectors X42.
-bundle the cables in their original positions with a wire tie removed in step (6).
allow unnecessary strain on the cables.
For details, refer to Maintenance: 3.1 Arm Top Cover.
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