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Base joint – Base mounting bracket: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Important note: remove residues of old Loctite in screw holes with a M4 tap tool for threads before
assembling the joint to get the correct torque on the new screws.
2. Important note: Always use new pre-coated screws when it is possible. If you have to assemble with
old screws carefully clean the screws and attach Loctite 648 on the screws before assembly.
3. Replace Base mounting bracket and reconnect wires to the EMC filter.
Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)
1 x red wire = 48V DC
1 x black wire = GND
White and black = bus connector
4. Orientate the joint and Base mounting bracket according to the marks and gently push them together.
5. Press gently the base and base mounting bracket together to align the screw holes in the two parts
before attaching the screws.
6. Gently tighten the 10 screws, and then tighten in cross order with 3.0Nm.
7. Slide the black teflon ring into place and gently put the flat ring back on top of the teflon ring.
8. Proceed to chapter 3.1.15 Dual Robot Calibration and Joint calibration. for calibrating the robot.
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