7. Service Procedures (Undefined variable: MyVariables.ProductName)
Replacing the J4 (Wrist) Axis Motor or
Timing Belt
Part Number: PF40-DI-00010 Rev. A
Step Action
13.
Replace the J3 motor, using Loctite 243, or optionally, replace the J3 timing belt if necessary.
Since the motor mount plate has not been removed, the belt tension should not need to be
adjusted.
14.
If a Belt Tension Meter is available, check the belt tension per Appendix E: Belt Tensions, Gates
Tension Meter. Check the belt tension every 10 degrees of rotation of the J3 output pulley and
set the belt tension at its lowest point to the minimum value in Appendix E: Belt Tensions, Gates
Tension Meter.
15.
Replace the pulley mount plate using Loctite 222 and re-assemble the robot.
16.
Re-calibrate the robot.
Replacing the J4 (Wrist) Axis Motor or Timing Belt
Electrical Shock
Before replacing this motor, the AC power should be removed.
Tools Required:
l
3.0 mm hex driver or hex L wrench
l
2.5 mm hex driver or hex L wrench
l
2.0 mm hex driver or hex L wrench
l
Fine point tweezers
l
0.06 in flat blade screwdriver
Spare Parts Required:
l
J4 Motor Assembly (PF04-MA-00011) or J4 Timing Belt (PF00-MC-X0004)
l
Loctite 222 and 243
The J4 Motor Assembly is composed of the J4 motor, connectors, and a timing belt pulley. To
replace the J4 (Wrist) Axis Motor or Timing Belt, perform the following procedure:
Step Action
1.
Move the robot arm to a convenient height on the Z column for removing the outer link.
143
Copyright © 2023, Brooks Automation
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