RS3 RS4 Maintenance 7. Joint #3
RS series Maintenance Rev.3
63
Joint #3 motor
Installation
(1) Mount the motor plate to the Joint #3 motor.
(Be careful of the mounting direction.)
Screw: 2-M4
×
10
Tightening torque: 3.5 N
⋅
m (35.7 kgf
⋅
cm)
(3) 2-M5
×
8
set screw
Joint #3
motor
(3) M5 bushing
(1)
2-M4
×
10
Brake hub
Z pulley
Motor
plate
1
mm
Brake hub
Shaft
(2) Insert the pulley and brake hub into the motor
shaft. Then, tighten both at a distance of 1
mm from the shaft.
(3) Secure the pulley to the position touching the
hub.
Put the one of the set screws and the flatly
chamfered surface of motor shaft to touch
vertically.
Insert the bushing into the other screw.
Secure the bushing to prevent damage from
the motor shaft.
(4) Install the brake to the Joint #3 motor.
Align the position of the disk on the brake
and the hub.
When the brake disk is not aligned, connect
the connector X32. Press the brake release
switch and release the brake to manually
adjust the position.
Joint #3
motor
unit
2-M5
×
8
Brake
Unit
Disk
Hub
(5) Put the Joint # 3 motor unit in the arm.
Motor cable must face to the right side of the
arm.
4-M4
×
15
+
Washer
Joint #3
motor unit
