Maintenance 5. Actuator Units
302 N6 Rev.2
(4)
Install the pulley on the drive boss.
Hexagon socket set screws:
2-M4×4 (brass bushing × 1)
Tightening torque: 2.4 ± 0.1 N·m
Push the pulley to the drive boss and fix it.
Fix the set screw to align with the D
-cut
surface. Fix the other one after installing the
bushing.
If the screw positions are not correct
or you forget to install the bushing, the side of
part will get damage and
you cannot pull out
Hexagon socket set screws
(5)
Install the Joint #5 motor unit on the Arm #4.
Hexagon socket head cap bolts: 2-M4×15
(with plain washer for slotted hole
thickness: 1.5mm)
Do not tighten the screws completely. Loosen
them so that the motor unit will
not fall.
(6)
Install the timing belt and temporarily fix the
Joint #5 motor unit.
Hexagon socket head cap bolts: 2-M4×15
(with plain washer for slotted hole
thickness: 1.5mm)
When temporary fixing the Joint #5 motor unit, make sure that the motor unit can be
moved by hand and does not tilt when being pulled. If the unit is fixed too loose or too
tight, the belt will not have proper tension.
(7)
Apply the proper tension to
the Joint #5 timing
belt and fix the Joint #5 motor unit.
Tension of Joint #5 timing belt: 23 ± 5 N
Belt tension meter setting value
Weight: 2.5g/mm Width×m Span, Width:6 mm, Span:142 mm
Hexagon socket head cap bolts:
2-M4×15 (with plain washer for slotted hole thickness: 1.5mm)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
- Jumping (position gap) may occur if the value is below the lower limit.
- Vibration (abnormal noise) or reduction of life of the parts may occur if the
value exceeds the upper limit.
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