Maintenance 10. Joint #2
VT Rev.1 181
the timing belt through the motor pulley and
oosely secure to the Arm #2.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Make sure that the gear grooves of the timing belt are fit into those
When securing the motor unit loosely, make sure that the motor unit
by hand and it does not tilt when being pulled.
If the unit is secured too loose or
too tight, the belt will not have
As shown on the picture, pass the cable through
the Arm #2 motor unit fixing part.
the motor unit, make sure that the
caught in the gap between the motor
the thermal sheet on the rear side of the motor
the round convex part at the end of the Arm
Apply proper tension to the motor unit and fix it.
Joint #2 timing belt tension: 34 - 58 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 9.0mm
Span: 172mm
Hexagon socket head cap bolts: 3-M4×22 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
When you replace with a new belt, belt extends and the belt tension may decrease in
the initial stage.
Make sure to operate the robot two to three days and check the belt
tension again
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