Maintenance 12. Joint #4
VT Rev.1 197
the timing belt through the motor pulley and
oosely secure to the Arm #3.
Hexagon socket head cap bolts: 3-M4×18
(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 can be moved
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
The direction to install the motor is the
direction in which the connector of
Be careful for the
installation direction
Apply proper tension to the motor unit and fix it.
Joint #4 timing belt tension: 23 - 36 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 6.0mm
Span: 45mm
Hexagon socket head cap bolts: 3-M4×18 (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
Mount the plate on the Arm #3.
Hexagon socket head cap bolts with
captive washer: 2-M4×12
Tightening torque: 4.0 ± 0.2 N·m
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