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Maintenance 8. Joint #4
(10) Put the Joint #3 motor unit back in the
(11) Pass the brake cable and special power
(12) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE
(13) Apply the proper tension to the Z belt and secure
NOTE
(14) Remove the control board and the plate.
(15) Connect the following connectors.
(16) Mount the User Plate.
126
arm.
supply through the Z belt.
Set the Z belt around the Z1 pulley and
Z2 pulley, with the gear grooves of the
belt fitting into grooves of the pulleys
completely.
Make sure 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, the belt will not have the proper tension.
the Joint #3 motor unit.
Install the tensioner in front of the Joint #3 motor
unit. Rotate the hexagonal bolt of the tensioner
and push the plate to apply the specified tension.
For details, refer to Maintenance 7.2 Replacing
the Timing Belt.
Z belt tension:
69 N (7.0 ± 0.5 kgf)
(13)-1 Loosen the nut and turn the bolt. Push in the Joint #3 motor unit.
(13)-2 After fixing the Joint #3 motor unit, turn the bolt to leave from the plate.
(13)-3 Check the tension using the sonic tension meter.
For details, refer to Maintenance 7.4 Checking the Timing Belt Tension.
(13)-4 Repeat the steps (13)-1 through (13)-3 until you get appropriate tension.
(13)-5 After the adjustment, put the bolt back to its original position and fix it with
the nut.
To check belt tension with the tension meter, refer to Maintenance: 7.4 Checking the
Timing Belt Tension (Z Belt).
For details, refer to Maintenance: 11.3 Replacing the Control Board.
Connectors: BR4, X32, X43, X44, X51, X231, X241
For details, refer to Maintenance: 3.5 User Plate.
Joint #3
Motor Unit
3-M4×18
＋Washer
Plate
Bolt
Nut
Tensioner
LS10-B Rev.6
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