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Maintenance 5. Actuator Units
5.5 Joint #5
■ This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator.
maintenance.
CAUTION
NOTE
The Joint #5 is not equipped with an actuator unit. Replace the following parts for each
Motor unit, timing belt, electromagnetic brake
5.5.1 Replacing the Joint #5 Motor Unit
Joint #5 motor unit *
Maintenance
Belt tensile jig **
Parts
Cable tie
Hexagonal
wrench
Tools
Cross-point screwdriver (#2)
Torque wrench
Feeler gauge (0.5 mm)
Belt tension meter
* Joint #5 motor unit (1749172) is a dedicated motor unit. Do not use it for the Joint #6
** The belt tensile jig is an assembly jig. Use this jig when adjusting belt tension.
The brake is mounted on each joint to prevent the arm from lowering due to its own
weight while the controller power is OFF or the motor is OFF status. The brake does not
work during replacement. Be careful when performing maintenance work.
N6-A1000**
Joint #5 timing belt
298
Name
AB200
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
motor unit.
Be very careful when performing
Qty
1
1749172
1
1749184
-
1684328
1
For M4 hexagon socket set screw
1
For M3 hexagon socket head cap bolts
1
For M4 hexagon socket head cap bolts
1
For cross recessed head screws
1
For tightening torque control
2
For positioning of drive boss
1
Refer: Unitta U-505
N6-A850**R
Joint #5 motor unit
(motor + electromagnetic brake)
Joint #5 motor unit
(motor + electromagnetic brake)
Joint #5 timing belt
Code, Note
1 bag (100 ties: white)
N6 Rev.2
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