RS3 RS4 Maintenance 10. Ball Screw Spline Unit Replacement
RS series Maintenance Rev.3
83
(10) Loosen the Z belt.
Loosen four bolts securing the Joint #3 motor.
Slide the Joint #3 motor unit toward the arm end.
4-M4
×
15
+
washer
Joint #3
motor unit
(11) Remove the Joint #3 motor unit from Arm #2.
Remove the bolts securing the Joint #3 motor.
Remove the pulley from the Z belt and pull out
the Joint #3 motor unit.
Pulley
Z belt
Joint #3
motor unit
(12) Loosen the U belt.
Loosen four bolts securing the Joint #4 motor.
Slide the Joint #4 motor unit toward the arm end.
3-M4
×
15
+
washer
Joint #4
motor unit
(13) Remove the Joint #4 motor unit from Arm #2.
First, remove the bolts securing the Joint #4
motor.
Next, remove the U pulley from the U belt and
pull out the Joint #4 motor unit.
Joint #4
motor unit
U belt U pulley
(14) Remove the U belt and Z belt.
Remove the bolts securing the spline plate.
Hold the spline plate upward and pull the U belt
and Z belt out of the shaft.
U belt
3-M4
×
12
+ washer
Spline plate
Z belt