5. Replacing the Motors Part 2: Maintenance
120
(8) Place the Z belt around the Z1 and Z2 pulleys. Ensure that the gear grooves of the
belt and pulleys engage properly. Be careful not to slip the Z belt from the pulleys
while maintaining proper interval between the pulleys. Fasten the Joint #3 motor plate
for the time being with four bolts (M4
×
10).
Z1 pulley
Z belt
Z2 pulley
Motor plate
(9) Pass a cord or string around the Joint #3 motor near its mounting plate. Loosen the
bolts for the Joint #3 motor plate fastened in the step (8) and pull the cord by a force
gauge or similar tool. Fasten the Joint #3 motor plate securely where the Z belt is
pulled at 29.4N (3kgf). Adjust in the range of 20N - 39N (2kgf - 4kgf).
Force gauge
(10) Connect the connectors, X131, X31 and X32.
(11) Fasten the motor cables with wire ties in their original positions. Do not allow
unnecessary stain on the cables.
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