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RS3 RS4 Maintenance 7. Joint #3
(6) Place the Z belt around the Z pulley so that the gear
(7) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE
(8) Apply the proper tension to the Z belt, and then secure the Joint #3 motor unit.
(9) Connect the following connectors.
(10) Re-bundle the cables in their original positions with a wire tie removed in step (7).
(11) Install the Arm #2 cover.
(12) Install the Arm #1 side cove.
(13) Perform the calibration of Joint #3.
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grooves of the belt are fit into those of the pulley
completely.
Loosely secure the Joint #3 motor unit to Arm #2 so that the motor 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.
Hexagonal wrench (Stubby type) makes it easier to tighten / remove screws.
Put the M4 wrench to the Joint #3 motor unit, near its mounting plate.
And pass a suitable cord or string around the motor unit.
Then, pull the cord using a force gauge or similar tool to apply the specified tension
shown in the figure.
Make sure that the brake cables do
not touch the pulley.
Connectors X331, X31, X32, XB33
Do not allow unnecessary strain on the cables.
For details, refer to 3.2 Arm #2.
For details, refer to 3.1 Arm #1.
For details on the calibration method, refer to 13. Calibration.
Z belt
Z belt tension = 75N (7.7 kgf)
Joint #3 Motor unit
M4 wrench
4-M4×15 + washer
RS series Maintenance Rev.3
Joint #3
motor
unit
Pulley
Force gauge
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