Maintenance 8. Arm #4
138 G3 Rev.14
Hold the spline upper rotator part and set the
U1 belt around the U1 pulley.
the gear grooves of the belt are fit
into those of the pulleys
Pass the Z belt through the ball screw spline
of Joint #3 motor unit and set the belt around
the pulley.
the gear grooves of the belt are fit
into those of the pulleys
Place the Joint # motor unit and spline rotator
part on the Arm #2 top surface.
Make sure the belt stays on the pulley.
Loosely secure the Joint #3 motor unit to Arm #2.
the motor unit can be moved by hand, and it will not tilt when pulled. If
secured too loose or too tight, the belt will not have the proper tension.
Place the U1 belt in Arm #2 around the
small pulley and put it on the Arm
At this point, keep the U2 belt on the
large pulley of Joint #4 intermediate
unit.
the gear grooves of the belt
are fit into those of the pulleys
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