RS3 RS4 Maintenance 8. Joint #4
RS series Maintenance Rev.3
75
U belt
Installation
(1) Pass the U belt through the shaft and under the
spline plate.
U belt
3-M4
×
12
+
washer
Spline plate
(2) Loosely secure the Spline plate to Arm #2.
Move the shaft up/down several times and secure
it.
(3) Set the Joint #4 motor unit to Arm #2 so that the
motor cables face to the right side of arm.
3-M4
×
15
+
washer
Joint #4 motor unit
(4) Place the U belt around the U pulley so that the
gear grooves of the belt are fit into those of the
pulley completely.
(5) Loosely secure the Joint #4 motor unit to Arm #2.
Check that the motor unit can be moved by hand, and it will not tilt when pulled. If
the units are secured too loose or too tight, the belt will not have the proper tension.
(6) Apply the proper tension to the U belt, and then secure the Joint #4 motor unit.
Hexagonal wrench (Stubby type) makes it easier to tighten / remove the screws.
To do so, pass a suitable cord or string around the Joint #4 intermediate shaft 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.
4-M4
×
15
+
washer
U belt tension = 120 N (12.2 kgf)
Force gauge
Joint #4 motor unit
M4 wrench
(7) Set the Joint #3 motor unit to Arm #2 so that the
motor cables face to the right side of arm.
4-M4
×
15
+
washer
Joint #3
motor unit
NOTE
