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RS3 RS4 Maintenance 5. Joint #1
5.1 Replacing Joint #1 Motor
Maintenance
AC Servo Motor (400 W)
parts
Hexagonal wrench
Torque wrench (M4)
Tools
Force gauge
Suitable cord (Length about 800 mm)
Wiping cloth
Grease (SK-1A)
Grease
When tightening hexagon socket head cap bolts, refer to the 2.4 Tightening Hexagon Socket
NOTE
Head Cap Bolts.
Joint #1 motor
(1) Turn ON the Controller.
Removal
(2) Move the Manipulator Joint #1 to the origin.
(3) Turn OFF the Controller.
(4) Remove the connector plate.
(5) Disconnect the following connectors.
(6) Remove the base cover.
(7) Loosen the J1 belt.
40
Name
width across flats: 2.5 mm
width across flats: 3 mm
For details, refer to 3.3 Connector Plate.
Connectors X10, X20, X30, X111, X121, X131 (Hold the clip to remove.)
Connector X61
For details, refer to 3.4 Base Cover.
Loosen four bolts on the Joint #1 motor unit.
Slide the Joint #1 motor unit toward the Joint #1
side.
Quantity
1
1514468
1
For M5 set screw, M3 screw
1
For M4 screw
1
1
Belt tension 150 N (15.3 kgf)
1
For belt tension
1
For wiping grease
13 g
Joint #1 motor unit
Pulley
RS series Maintenance Rev.3
Note
4-M4×15
+ Washer
J1 belt
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