C4 Maintenance 8. Joint #4
C Series Maintenance Manual Rev.2 105
6. Cut off the wire tie binding the cables of the Joint #4 motor unit.
7. Remove the Joint #4 pulley 1 and the drive boss from the Joint
#4 motor unit.
The drive boss and the pulley fixing:
Hexagon socket set screws: 2-M3×8 (with a brass bushing)
The pulley and the motor shaft fixing:
Hexagon socket set screws: 2-M3×8 (with a brass bushing)
There is a brass bushing in one of the set screw fixing the drive boss and the pulley.
Be careful not to lose it.
Pulley
Motor shaft
Drive boss
A : Pulley and motor shaft fixing screws
B : Pulley and drive boss fixing screws
C : Bushing
D : Flat face for motor shaft
E : Flat face for drive boss
A
A
B
C
C
B
D
E
8. Remove the Joint #4 electromagnetic brake.
Hexagon socket set screws: 3-M2.5×10
9. Remove the motor plate from the Joint #4 motor.
Hexagon socket head cap bolts: 2-M4×12
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