Maintenance 5. Joint #2 (Replacing the Motor)
S5 Rev.5 113
-check the bolts to make sure that you have not forgotten to tighten any of
oint #2 Motor
oint #2 input pulley to the Joint #2 motor.
Hexagon socket head cap bolt : 1-M5×16 (with disc spring 2H-5)
Apply adhesive.
Tightening torque : 6.0 N·m (0.62 kgf·m)
Joint #2 input pulley by using its grooves
while tightening the bolt to
prevent the
motor from turning.
Mount the motor plate to the Joint #2 motor.
Hexagon socket head cap bolt : 3-M4×16 (with disc spring 2H-4, M4 washer)
Tightening torque : 2.8 N·m (0.29 kgf·m)
Place the timing belt around the Joint #2 input pulley and mount the Joint #2 motor to
the Arm #2.
GT-SA bolt : 2-M4×16 (with M4 washer)
Tightening torque : 2.8 N·m (0.29 kgf·m)
Make sure the Arm #2 touches the radiat
ion sheet on the motor side surface. It is
necessary for the heat radiation of the motor.
Adjust the belt tension.
For details, refer to Maintenance: 5.3 Replacing the Joint #2 Timing Belt.
two cables of the Joint #2 motor (power system, signal system) to the cables
.
5)
Remove the backup battery from the Joint #2 motor.
over.
Maintenance 3.2 Arm #2 Cover.
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