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Maintenance 8. Joint #4
Regarding belt tension:
- Jumping (position gap) may occur if the value is below the lower limit.
NOTE
- Vibration (abnormal noise) or reduction in life of the parts may occur if the value exceeds the upper
limit.
- When you replace with a new belt, belt may stretch and the belt tension will decrease in the initial
stage of operation. Make sure to operate the robot two to three days and check the belt tension again.
When using the belt tension tensile jig (maintenance part):
Fix the belt tension tensile jig (for J4) to the Joint #4 motor plate.
Hexagon socket head cap bolt: 2-M4×15
Push the belt tension tensile jig (for J4, J5, and J6) against the
Arm #3 as shown in the photo. Insert the screw to the through
hole at the center and fix it lightly to the hole for the belt tension
tensile jig.
Hexagon socket head cap bolt: M4×15
Tension is applied as the Joint #4 motor unit is stretched by
tightening the screw.
7. Install the plate for fixing the cables.
Hexagon socket head cap bolts: 2-M4×10
8. Install the brake power supply to the plate.
Install the brake power supply so that the cable is facing to the left.
Cross recessed head screw with captive washer: 2-M3×6
Tightening torque: 0.45 ± 0.1 N·m
9. Connect the following connectors.
Connectors: X141, X041, BT4, BR041
10. Install the following cover.
Arm #3 cover
Arm #3 maintenance cover
Arm #2 side cover
For details, refer to Maintenance: 3. Covers.
11. Calibrate the Joint #4.
For details, refer to Maintenance: 16. Calibration.
258
C8 Rev.13
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