Maintenance and inspection procedures 5-109
Fig.5-10 ： Replacing the J1 axis timing belt (RV-2FR series)
1) Turn the J1 axis to the front by jog operation beforehand. (joint angle is near 0 degree)
2) Turn off the robot controller.
3) Remove the machine cable or piping, etc. corresponding to the usage condition, and place the robot on the
floor sideways. Turn J1 motor cover upward, and place sideways slowly so that a shock may not be given to
the robot arm.
4) Refer to
Page 100, "5.3.2 Installing/removing the cover"
and remove the J1 motor cover and the bottom plate
with.
5) The image figure inside the bottom plate of the robot arm is shown in
.
6) Make sure that the pulleys do not move while replacing the belt. If the timing pulley A <4> and the timing pulley
B <5> position relation deviates, the position could deviate.
7) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in
so
that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate.
8) Lightly loosen the motor plate fixing screw <1>. (two pc.) (Do not loosen too much.)
9) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove
the old belt.
10) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks.
11) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install.
12) Turn tension adjustment screw <3>, and adjust the tension of timing belt <2>.
When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen.
Adjust the belt tension slack to within the range as shown in Page 135, "(15) Timing belt tension".
Before the tension measurement, rotate the timing pulley at least three times in each direction so that the
timing belt fits in the pulley. Check the tension measurement method in
Page 107, "(2) Timing belt tension
If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and
<5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate.
13) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension
adjustment screw <3>. Moreover, also fasten two motor plate fixing screws <1> certainly (M4 screw: tighten
-
ing torque is 4.51 Nm). Improper tightening can cause the belt to loosen with vibration.
14) Install the J1 motor cover and the bottom plate securely as before and finish adjustment.
15) Reinstall the robot arm just as before.
16) Refer to
Page 150, "5.6 Resetting the origin"
, and reset the origin position.
17) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the
dedicated screen or parameter MFBRST of RT ToolBox3. Refer to "RT ToolBox3/RT ToolBox3 mini User's
Manual" for operation of RT3 and refer to "Instruction Manual/Detailed Explanation of Functions and
Operations" for the parameter.
<3>Tension adjustment screw
With the fixing nut
<1>Motor plate fixing screw
<2>. Timing belt
<6>Motor plate
<1> Motor plate fixing screw
<4> Timing pulley A
<5>. Timing pulley B
Mark
Inside of the bottom plate of robot arm (bottom)
