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Maintenance 7. Arm #3
7.2.1 Replacing the Timing Belt : G10
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
(1) Execute the removal steps from (1) to (10) in Maintenance 7.1 Replacing Joint #3
Z belt
Removal : G10
(2) Remove the Joint #4 motor unit from Arm #2.
(3) Remove the brake hub.
(4) Remove the brake.
(5) Remove the Z belt.
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Motor to remove the Joint #3 motor.
Do not remove the brake unit from Arm #2.
Pull out the U belt from the U1 pulley to remove
it.
Loosen the two set screws and pull out the brake
hub.
There is a wave washer between the housing and
the bearing. Be careful not to lose it.
The gear for Z axis is a backlash-less gear. Be
sure to keep the gear and pinion engage.
If the gear is out of joint, refer to step (7) in Ball Screw Spline Unit Installation of
Maintenance 10.2.1 Replacing the Ball Screw Spline Unit: G10 to engage the gear.
Remove the bolts securing the spline plate.
Hold the spline plate and pull out the Z belt from
the shaft upwards.
Joint #4
4-M4×15
motor unit
Brake hub
2-M3×4
set screw
4-M4×12
Wave washer
Brake
Bearing
3-M5×15
Z belt
Spline plate
G10 / G20 Rev.20
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