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4. Put the Joint #6 motor unit to the Arm #4.
5. Place the timing belt around the pulley 1 and pulley 2.
Make sure that the teeth of the timing belt engage with these of
the pulley.
When securing the motor unit temporarily, make sure that the
motor unit can be moved by hand, and it does not tilt when being
pulled. If the unit is secured too loose or too tight, the belt will
not have proper tension.
6. Apply tension to the Joint #6 motor unit and fix it.
Joint #6 timing belt tension = 39.2 N ± 9.8 N (4 kgf ± 1 kgf)
Secure the Joint #6 motor unit by applying tention.
Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)
Tightening torque: 4.9 N·m (50 kgf·cm)
7. Connect the following connectors.
Connectors: X062, X162, BT62, BR062
8. Install the Arm #4 side cover.
For details, refer to C4 Maintenance: 3. Covers.
9. Perform the calibration.
For details, refer to C4 Maintenance: 16. Calibration.
C Series Maintenance Manual Rev.2
C4 Maintenance 10. Joint #6
139
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