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RS3 RS4 Maintenance 5. Joint #1
Joint #1 motor
(1) Mount the motor plate on the Joint #1 motor.
Installation
(2) Mount the pulley to the Joint #1 motor.
(3) Place the J1 belt around the pulley of the Joint #1
NOTE
(4) Apply the proper tension to the J1 belt and secure
42
Fit the end face of the pulley with the end face of
the motor shaft.
Tighten one of the set screws on the flat face of the
motor shaft until the screw just touches the
surface.
Insert a bushing into the other set screw hole to
prevent damage to the motor shaft.
Then, tighten both set screws.
motor unit to secure the unit loosely.
Make sure that the gear grooves of the belt are fit
into those of the pulleys completely.
Put the motor cable facing toward the other side of
Joint #1.
When securing the motor unit, make sure the unit
can be moved by hand, and it will not tilt when
pulled.
If the unit is secured too loose or too
tight, the belt will not have the proper tension.
the Joint #1 motor unit.
To do so, pass a suitable cord or string around the
Joint #1 motor unit near its mounting plate.
Then, pull the cord using a force gauge or similar
tool to apply the specified tension shown in the
figure on the right.
4-M4×15
+washer
Motor plate
2-M5×8
set screw
M5
Brass bushing
Pulley
Pulley
J1 belt
Joint #1 motor unit
4-M4×15
+ Washer
J1 belt tension = 150N (15.3kgf)
Force gauge
RS series Maintenance Rev.3
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