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8. Apply adhesive to the following parts of the J4 pulley.
Bearing mating part
Inner ring (J4 sleeve)
Outer ring (J4 pulley)
Adhesive: Loctite 641
Install the J4 pulley bearing, and tighten the bearing bolt.
Hexagon socket head cap bolts: 3-M3×8 (with a plain washer)
Tightening torque: 2.0 ± 0.1 N·m
9. Install the Arm #4 to the Arm #3.
To fix all bolts, change the position of the Joint #4 by rotating it.
Hexagon socket head cap bolts: 8-M5×30
Tightening torque: 10.0 ± 0.5 N·m
10. Install the Joint #4 timing belt with a proper tension.
For details, refer to Maintenance 8.1 Joint #4 – Replacing the
Motor, Installation steps (5) and (6).
11. Pass the cables to the Arm #4.
For details, refer to Installation steps in Maintenance 4.1 Cable Unit.
12. Install the Joint #5 and #6 motors.
For details, refer to Installation steps of Maintenance 9.1 Joint #5 – Replacing the Motor and Maintenance
10.1 Joint #6 – Replacing the Motor.
13. Install the removed covers.
For details, refer to Maintenance 3. Covers.
14. Perform the calibration.
For details, refer to Maintenance 16. Calibration.
C8 Rev.13
Maintenance 8. Joint #4
265
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