Maintenance 7. Arm #3
164 G10 / G20 Rev.20
7.2.2 Replacing the Timing Belt : G20
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Execute the removal steps from (1) to (10) in
1 Replacing Joint #3
Motor
to remove the Joint #3 motor.
Do not remove the brake unit from Arm #2.
Remove the bolts securing the spline plate. Hold
spline plate and pull out the Z belt from the
through the shaft from above, and then place it under the spline
plate.
Pass the belt through Arm #2.
Loosely secure the spline plate to Arm #2.
After moving the shaft up and down several times, secure the spline plate to Arm #2.
Execute steps from (2) to (10) in
Maintenance 7.1 Replacing Joint #3.
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