Part 2: Maintenance 8. Replacing the Timing Belts
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(3) Pass a suitable cord or string around the Joint #4 motor near the countershaft plate.
Loosen the bolts for the Joint #4 countershaft plate fastened in the step (2) and pull the
cord using a force gauge or similar tool. Fasten the Joint #4 countershaft securely
where the U2 belt is pulled at 98N (10kgf). Adjust in the range of 78N - 117N (8kgf
- 12kgf).
Force gauge
(4) Pass a suitable cord or string around the Joint #4 motor near its mounting plate.
Loosen the bolts for the Joint #4 motor plate fastened in the step (2) and pull the cord
using a force gauge or similar tool. Fasten the Joint #4 motor plate securely where
the U1 belt is pulled at 49N (5kgf). Adjust in the range of 29N - 68N (3kgf - 7kgf).
Force gauge
(5) Install the arm top cover and arm bottom cover. (Refer to chapter 2. Opening the
Covers.)
* If the manipulator is a Protected model, seal the arm top cover and arm bottom
cover. Refer to the section Sealing the Manipulator in chapter 13. Protected
Model.
(6) The mechanical origin position and teach points change when the timing belts are
replaced. Calibrate Joint #3 and Joint #4 as described in chapter 11. Calibration.
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