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8. Remove the Joint #6 motor pulley 1 and the drive boss from the
Joint #6 motor unit.
Pulley 1 and drive boss screws
Hexagon socket set bolts: 2-M4×4 (with a brass bushing)
Drive boss and motor shaft screws
Hexagon socket set bolts: 2-M4×4
There is a brass bushing on one of the set screws fixing the drive
boss and the pulley. Be careful not to lose it.
A: Pulley and motor shaft screws
B: Pulley and drive boss screws
C: Bushing
Drive boss
B
9. Remove the Joint #6 electromagnetic brake.
Hexagon socket set bolts: 3-M3×15 (with a spacer)
Be careful not to lose the spacers.
10. Remove the motor plate from the Joint #6 motor.
Hexagon socket head cap bolts: 2-M4×10
C8 Rev.13
Pulley
A
A
C
Maintenance 10. Joint #6
293
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