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8.2.1 Replacing the Timing Belt: G10
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down 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).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
(1) Turn ON the Controller.
U belt
Removal: G10
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
(3) Turn OFF the Controller.
(4) Remove the arm top cover and the arm bottom cover.
(5) When you use the plate of 4-point mounting,
NOTE
(6) Loosen the Z belt.
G10 / G20 Rev.20
sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and #4. When the brake release
switch is pressed, the respective brakes for Joints #3 and #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. Covers.
remove the plate.
When removing the mounting bolt of battery unit,
be sure to keep the connectors connected to the
battery unit.
If connectors of the battery unity are disconnected,
you need to perform calibration again.
When you use the plate of 3-point mounting, loosen
the plate mounting bolt.
Remove the four bolts securing the Joint #3 motor
unit and slide the Joint #3 motor unit to the arm end
side.
Maintenance 8. Arm #4
4-point mounting
4-M4×10
Plate
Battery unit
3-point mounting
Plate
Battery unit
4-M4×15 + Washer
Joint #3
motor unit
175
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