Maintenance 7. Arm #3
142 G6 Rev.21
Place the Z belt around the Z1 pulley and
pulley so that the gear grooves of
into those of the pulleys
Loosely secure the Joint #3 motor unit to Arm
Loosely secure the Joint #3 motor unit to Arm
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
Apply the proper tension to the Z belt, and then
secure the Joint #3 motor unit.
At this point, be careful of the battery board.
To remove the battery board, take out the set
screws with cables connected.
(Stubby type) makes it easier
to tighten / remove screws.
Z belt tension = 80 N
(8.2 kgf)
a suitable cord or string
around the Joint #3 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
Make sure that the brake cables do not touch the pulley.
.
Connectors X231, X31, X63
-bundle the cables in their original positions with a wire tie removed in step (5).
allow unnecessary strain on the cables.
top cover and the arm bottom cover.
For details, refer to Maintenance: 3. Covers.
Perform the calibration of Joint #3.
For details on the calibration method, refer to Maintenance: 13. Calibration.
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