Maintenance 8. Arm #4
170 G10 / G20 Rev.20
Mount the U1 pulley and the motor plate to the
new
Pull the pulley to the motor side with 50N force to
pressurize the bearing while securing the pulley.
screws on the flat face of
the motor shaft until the screw just
Insert a bushing into the othe
prevent damage to the motor shaft.
4 motor unit in the arm so that the
motor cable faces toward the
U belt around the U1 pulley and the U2
pulley so that the gear grooves of
into those of the pulleys
Loosely secure the Joint #4 motor unit to Arm
Loosely secure the Joint #4 motor unit to Arm
the motor unit can be moved by hand, and
will not tilt when pulled. If the unit is secured
or too tight, the belt will not have the
Apply the proper tension to the U belt, and
then secure the Joint #4 motor unit.
a suitable cord or string
around the Joint #4 motor unit near its
mounting plate
. Then, pull the cord using a
gauge or similar tool to apply the
ecified tension shown in the figure on the
Make sure that the brake cables do not touch
the pulley.
G10 :
U belt tension = 160 N (16
.3 kgf)
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