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Chapter 3 Adjusting the robot
6) Lightly tighten the belt stay bolts and check the belt tension. The correct load and resulting
slack to be applied to each robot are shown in Tables 2-1. When the load producing the speci-
fied slack is within this range, no adjustment is required. If not within this range, adjust the
tension by repeating steps 4) and 5).
Robot model
B10
B14, B14H
7) Tighten the belt stay bolts and remove the belt tension adjusting bolt.
8) Reattach the upper cover and then the end cover.
See "3-1 Attaching the upper cover" in Chapter 3.
Reference: Adjusting drive belt tension with a tension meter
We recommend using a tension meter to adjust the belt tension more accurately.
Recommended tension meter: U-505 (Made by UNITTA)
Measurement method
To make the drive belt tension adjustment of step 5), pull the belt to a position where a load is to
be applied and adjust the belt tension by measuring the frequency with the tension meter while
referring to the table below.
For details on how to use the tension meter, refer to the tension meter instruction manual.
Robot model Tension (N) Frequency
B10
127 to 147
B14, B14H
169 to 188
Table 2-1 Load and slack for drive belt tension
Load (N)
4.9 to 5.9
5.9 to 6.9
Span length
(Hz)
86 to 93
79 to 84
3-6
Load (kgf)
Slack (mm)
0.5 to 0.6
2
0.6 to 0.7
2
Belt width
(mm)
(mm)
20
230
258
25
Unit mass
(g/width [mm] _ length [m])
4.0
4.0
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