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RS3 RS4 Maintenance 10. Ball Screw Spline Unit Replacement
(8) Apply the proper tension to the U belt, and then secure the Joint #4 motor unit.
(9) Place the Joint #3 motor unit back to Arm #2
(10) Put the Z belt around the Z pulley so that the
(11) Loosely secure the Joint #3 motor unit to Arm #2.
NOTE
86
Hexagonal wrench (Stubby type) makes it easier to tighten / remove the screws.
Put M4 wrench to the Joint #4 motor unit near its mounting plate.
Pass a suitable cord or string around the Joint #4 motor unit. Then, pull the cord
using a force gauge or similar tool to apply the specified tension shown in the figure.
so that the motor cable faces toward the right
side of arm.
gear grooves of the belt are fit into those of the
pulleys completely.
Check 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.
Z belt tension = 120 N (12.2 kgf)
M4 wrench
4-M4×15 + washer
Z belt
RS series Maintenance Rev.3
Joint #4
Motor unit
Force gauge
4-M4×15
+ washer
Joint #3
motor unit
Joint #3
motor
unit
Pulley
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