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Maintenance and inspection procedures
5Maintenance and Inspection
(3) Inspection, maintenance and replacement of J4-axis timing belt
Fig.5-6 ： Inspection, maintenance and replacement of J4-axis timing belt
■ Inspecting the J4 axis timing belt
1) Confirm that the robot controller power is OFF.
2) Refer to
, and remove the No.2 arm cover-U and No.2 arm cover-L.
3) Visually confirm that the symptoms indicated in
"(1)Timing belt replacement period"
have not occurred with
the timing belt. (At two locations, one at the first row and another at the second row)
4) Check the belt tension as shown in
"(4)Timing belt tension" on page 67
. Lightly press the center of the belt,
and confirm that the value of belt slack is in following.
RH-6SQH series
(Motor side) Force to press the belt: apprpx. 2N / Flexure: 1.2mm.
(Shaft side) Force to press the belt: apprpx. 4N / Flexure: 1.2mm.
RH-12SQH/18SQH series
(Motor side) Force to press the belt: approx. 2N / Flexure: 2.1mm.
(Shaft side) Force to press the belt: approx. 5N /Flexure: 1.7mm.
■ Adjusting the J4 axis timing belt
1) Carry out steps 1) and 2) indicated in
" ■ Inspecting the J4 axis timing belt"
above.
2) Slightly loosen the two J4 motor installation screws (1) and the three idler installation screws (3). (Be care
-
ful not to overly loosen the screws.)
3) While checking the tension of the timing belt (10), move the idler (4) in the directions of the arrows indicated
in the figure above. Lightly press the center of the belt, and confirm that the value of belt slack is in follow
-
ing.
RH-6SQH series: Force to press the belt : approx. 4N / Flexure: 1.2mm
RH-12SQH/18SQH series: Force to press the belt: approx. 5N / Flexure: 1.7mm
4) While checking the tension of the timing belt (7), move the J4 motor (2) in the directions of the arrows indi
-
cated in the figure above. Lightly press the center of the belt, and confirm that the value of belt slack is in
following.
RH-6SQH series: Force to press the belt : approx. 2N / Flexure: 1.2mm
RH-12SQH/18SQH series: Force to press the belt: approx. 2N / Flexure: 2.1mm
5) The belt tension will increase when moved in the direction of arrow a, and will decrease when moved in the
direction of arrow b.
6) If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys (5), (6),
(8) and (9), or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate.
7) After adjusting, securely tighten the idler installation screws (3) and J4 motor installation screws (1).
Improper tightening can cause the belt to loosen with vibration.
(1)J4 axis installation screw
(2)J4 axis motor
(5)Timing pulley
(7)Timing belt
(6)Timing pulley
(4)Idler
(3)Idler installation screw
b
a
b
a
（Motor side）
（Shaft side）
(9)Timing pulley
(10)Timing belt
(8)Timing pulley
