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13. Install the motors for the Joints #5 and #6.
Connect the cables and air tube and store them inside.
Upper photo: Joint #5 motor side
Place the Ethernet cable and the air tube (blue) on the near side.
Lower photo: Joint #6 motor side
Place the other cables and the air tube (clear) on the front side.
Fix the cables by binding them with a wire tie (INSULOC AB150 or
equivalent) inserted through the hole of the cable fixing plate so that
the cables do not interfere with the Joint #6 motor pulley.
Pay attention so that no connector is installed incorrectly and no cable
is caught between components.
For details, refer to Maintenance: 9.1 Joint #5 - Replacing the Motor, Installation steps (4) to (8),
and Maintenance: 10.1 Joint #6 - Replacing the Motor, Installation steps (4) and (7).
NOTE
Use the air tube fittings removed in the cable removal steps again.
14. Mount the brake power supply to the plate.
Mount the power so that the cables are directed down.
Cross recessed head screws with washer: 4-M3×6
Tightening torque: 0.45 ± 0.1 N·m
Installation locations:
Brake power supply for Joint #5: right side
Brake power supply for Joint #6: left side
15. Fix the cable protection plate to the Arm #4.
Hexagon socket head cap bolts: 2-M4×10
Tightening torque: 4.0 ± 0.2 N·m
NOTE
Be careful not to get the cables caught.
It may cause cable breakage.
C8 Rev.13
Maintenance 4. Cable Unit
151
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