C4 Maintenance 7. Joint #3
C Series Maintenance Manual Rev.2 93
6. Place the Joint #3 timing belt around the pulley 1 and 2 and
secure temporarily.
Check that the teeth of the timing belt engage with these of the
pulley.
When securing the motor unit temporarily, make sure that the
motor unit can be moved by hand, and it does not tilt when
being pulled. If the unit is secured too loose or too tight, the
belt will not have proper tension.
Make sure that the clea
rance of the both motor units is the
same.
7. Apply tension to the Joint #3 motor unit and fix it.
Install the screw for tension adjustment to the motor plate.
Screw: M4×40 or longer (recommended length)
Pass a suitable cord or a
string (insulation lock) to the screw.
P
ull the cord using a force gauge or a similar tool to apply
specified tension.
Joint #3 timing belt tension = 68.6 N ± 9.8 N (7 kgf ± 1 kgf)
Secure the Joint #3 motor unit by applying tention.
Hexagon socket head cap bolt: 2-M4×15 (with a plain washer)
Tightening torque: 4.9 N·m (50 kgf·cm)
Make sure to remove the screw for tension adjustment.
8. Connect the following connectors.
Connector: X131, X031, BT3, BR021
9. Install the Arm #2 side cover.
For details, refer to C4 Maintenance: 3. Covers.
10. Perform the calibration.
For details, refer to C4 Maintenance: 16. Calibration.
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