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(10) Loosen the Z belt.
(11) Remove the Joint #3 motor unit from Arm #2.
(12) Loosen the U belt.
(13) Remove the Joint #4 motor unit from Arm #2.
(14) Remove the U belt and Z belt.
RS series Maintenance Rev.3
RS3 RS4 Maintenance 10. Ball Screw Spline Unit Replacement
Loosen four bolts securing the Joint #3 motor.
Slide the Joint #3 motor unit toward the arm end.
Remove the bolts securing the Joint #3 motor.
Remove the pulley from the Z belt and pull out
the Joint #3 motor unit.
Loosen four bolts securing the Joint #4 motor.
Slide the Joint #4 motor unit toward the arm end.
First, remove the bolts securing the Joint #4
motor.
Next, remove the U pulley from the U belt and
pull out the Joint #4 motor unit.
Remove the bolts securing the spline plate.
Hold the spline plate upward and pull the U belt
and Z belt out of the shaft.
4-M4×15
+ washer
Joint #3
motor unit
Joint #3
motor unit
Z belt
Pulley
3-M4×15
+ washer
Joint #4
motor unit
Joint #4
motor unit
U pulley
U belt
3-M4×12
+ washer
Z belt
U belt
Spline plate
83
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