RS3 RS4 Maintenance 7. Joint #3
64
RS series Maintenance Rev.3
(6) Place the Z belt around the Z pulley so that the gear
grooves of the belt are fit into those of the pulley
completely.
Pulley
Z belt
Joint #3
motor
unit
(7) Loosely secure the Joint #3 motor unit to Arm #2.
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.
(8) Apply the proper tension to the Z belt, and then secure the Joint #3 motor unit.
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.
4-M4
×
15
+
washer
Z belt tension = 75N (7.7 kgf)
Force gauge
Joint #3 Motor unit
M4 wrench
(9) Connect the following connectors.
Connectors X331, X31, X32, XB33
(10) Re-bundle the cables in their original positions with a wire tie removed in step (7).
Do not allow unnecessary strain on the cables.
(11) Install the Arm #2 cover.
For details, refer to
3.2 Arm #2
.
(12) Install the Arm #1 side cove.
For details, refer to
3.1 Arm #1.
(13) Perform the calibration of Joint #3.
For details on the calibration method, refer to
13. Calibration
.
NOTE
