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7.2 Replacing the Timing Belt
Maintenance
Z belt
parts
Hexagonal
wrench
Torque wrench
Tools
Nippers
Sonic tension meter
Material
Wire tie
NOTE
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down
and rotating due to the weight of the end effector while the power to the Controller is OFF
or while the motor is in OFF status (MOTOR OFF).
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Z belt
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
(5) Cut off the wire tie binding the cables.
(6) Disconnect the following connectors.
(7) Remove the User Plate.
LS10-B Rev.6
Name
width across flats: 2.5 mm
width across flats: 3 mm
to keep enough space and prevent the end effector hitting any peripheral equipment.
The brake release switch is applied to both Joints #3 and Joint #4.
When the brake release switch is pressed, the respective brakes of the Joint #3 and Joint
#4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is being pressed
because the shaft may be lowered by the weight of an end effector.
For details, refer to Maintenance: 3.1 Arm Top Cover.
Cut off the wire tie binding the Joint #3 brake cable.
Do not cut off a wire tie that binds the cables to the User Plate.
Connectors: BR4, X231, X43, X51 (Hold the clip to remove.)
For details, refer to Maintenance: 3.5 User Plate.
Maintenance 7. Joint #3
Qty.
Note
1
1758946
1
For M3 screw
1
For M4 screw
1
1
For cutting wire tie
Z: Belt tension
1
69N (7.0 ± 0.5 kgf)
-
107
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