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(12) Apply the proper tension to the U belt, and then secure the Joint #3 motor unit.
(13) Connect the following connectors;
(14) Re-bundle the cables in their original positions with a wire tie removed in Removal
(15) If the position of the lower limit mechanical stop was changed for area limit, secure it
(16) Grease the shaft.
(17) Install the Arm #2 cover and Arm #1 side cover.
(18) Turn OFF the Controller and peripheral equipment.
(19) Install the end effector, and connect wires and tubes to the end effector.
(20) This step is only for Cleanroom-model.
(21) Perform the calibration of Joints #3 and #4.
RS series Maintenance Rev.3
RS3 RS4 Maintenance 10. Ball Screw Spline Unit Replacement
To do so, pass a suitable cord or string around the Joint #3 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.
Make sure that the brake cables do
not touch the pulley.
Connector X331, X31, X32, X341, X41
Connector XB33, XB34
step (8).
Do not allow unnecessary strain on the cables.
to the proper position.
For details, refer to 10.1. Greasing the Ball Screw Spline Unit.
For details, refer to 3. Covers.
Install the bellows. For details, refer to 9. Bellows.
For details, refer to 13. Calibration.
Z belt tension = 75N (7.7 kgf)
Joint #3 Motor unit
M4 wrench
4-M4×15 + washer
Force gauge
87
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