Maintenance 8. Arm #4
LS20 Rev.4 123
Loosely secure the Joint #4 motor unit to
the Arm #2.
the teeth of the timing belt are
with those of the pulley.
At this point, make sure that the Joint #4
motor
unit can be moved by hand, and it
not tilt when pulled. If the unit is
, the belt will not have the proper
3-M5×20
+ washer for
slotted hole
Apply the proper tension to the U belt,
and then secure the Joint #4 motor unit.
U belt tension
: 206N (21.0 ± 0.75 kgf)
Axial tension (if being pulled): 412 N
To apply tension to the Joint #4 motor
unit, use the bolt at the front of the plate.
-1)
Loosen the nut and turn the bolt.
Push in the Joint #4 motor unit
plate slowly.
-2)
After fixing the Joint #4 motor
unit, turn the bolt to leave from
the plate.
-3)
Check the tension using the ultrasonic
tension meter.
Maintenance 8.5 Checking the Timing Belt Tension.
-4)
-1 through (7)-3 until you get appropriate tension.
-5)
After the adjustment, put the bolt back to its original position and fix it
with
8)
Connect the following connectors.
Connector: X231, X241, X31, X35, X41, X42
)
Maintenance: 3.6 User Plate.
0)
Bind the cables with new wire ties at
their original positions as before in
5). Bind the cables with the clip band.
Do not allow unnecessary strain on
the cables.
1)
Arm Top Cover.
Maintenance: 3.1 Arm Top Cover.
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