4-47
CHAPTER 4 Adjustment
8-1
Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400)
Adjust the Z-axis and R-axis timing belts of the R6YXH250, R6YXH350 and
R6YXH400 with the procedure below.
1) Prepare the necessary tools.
• Push-pull scale
• Stay (See Fig. 4-17. This stay should be prepared by the user.)
• Hex wrench set
• Phillips-head screwdriver
• Scale
2) Turn off the controller.
3) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis upper cover. Refer to "7 Removing the Robot Covers"
in Chapter 4 for removing the cover.
Place the upper cover on the robot base (pedestal) side with the machine
harness still connected.
6) Prop the spline or end effector with a support stand to prevent the Z-axis
from dropping (when adjusting the Z-axis belt tension).
7) Adjust the belt tension by two people as follows.
Using the push-pull scale, one person applies a load perpendicular to the
middle of the belt. The other person checks the slack of the belt. (See Fig.
4-16 and Fig. 4-17.)
8) The correct load to be applied to the belt of each robot model and the re-
sulting slack are shown in Tables 4-6 and 4-7. When the load producing the
specied slack is within this range, no adjustment is required. If not, adjust
the tension with the following procedure.
(1) Z-axis belt adjustment
1. Loosen the bolt 1 shown in Fig. 4-18.
2. If the load producing the slack specied in Table 4-6 (step 7) above is
smaller than the specied range, move the Z-axis motor in the direc-
tion increasing the tension. If the load is greater than this, move it in
the direction reducing the tension. Then, retighten the bolt.
3. Recheck the belt tension using the same procedure in step 7). When
the load applied to produce the specied slack is within the specied
range of Table 4-6, the adjustment is okay. If not, repeat the above
procedure from steps 1 to 3.
WARNING
IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS
DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE
CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT
STAND BEFORE BEGINNING ADJUSTMENT.
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