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Drive boss and the motor shaft:
Hexagon socket set screws: 2-M4×4
Tightening torque: 2.5 ± 0.2 N·m
Align the screws to the two flat faces of the motor shaft and fix them.
Drive boss and the pulley 1:
Hexagon socket set screws: 2-M4×4 (with a brass bushing)
Tightening torque: 2.5 ± 0.2 N·m
Fix the set screws while pressing the pulley 1 to the drive boss.
The brass bushing is not necessary for the screw for the flat surface (D-cut). Set the bushing to the
other screw and then fix the screw.
4. Put the Joint #6 motor unit inside the Arm #4.
5. Pass the timing belt around the pulley 1 and pulley 2 and fix it
temporarily.
Make sure that the teeth of the timing belt engage with these of
the pulley.
As a rough guide of temporary fixing, check that the motor unit can be moved by hand, and it does not
tilt when being pulled. If the belt is too loose or too tight, it will not have proper tension.
6. Apply tension to the Joint #6 timing belt and fix the Joint #6
motor unit.
Joint #6 timing belt tension: 15 to 30 N
Belt tension meter setting value
Weight: 2.5 g/mm width × m span, Width: 6 mm, Span: 122
mm
Hexagon socket head cap bolt: 2-M4×15 (with a plain washer)
Tightening torque: 4.0 ± 0.2 N·m
NOTE
Regarding belt tension:
- Jumping (position gap) may occur if the value is below the
lower limit.
- 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.
C8 Rev.13
Maintenance 10. Joint #6
295
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