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Maintenance 8. Arm #4
8.1 Replacing Joint #4 Motor
The shape and the replacement procedure of the Joint #4 AC servo motor for G10 series
and G20 series are different.
Maintenance
AC Servo Motor
parts
Hexagonal wrench
Nipper
Tools
Force gauge
Scale
Suitable cord (Length about 800 mm)
Wire tie
Material
8.1.1 Replacing the Joint #4 Motor: 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 starting the replacement procedure by
following the removal steps.
168
Name
150W
150W with brake
width across flats: 1.5 mm
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
Quantity
R13B000612
G10
R13B000618
(For S/N: 1**** or later)
1
R13B000613
G20
R13B000625
(For S/N: 1*** or later)
G20
1
For M3 set screw
1
For M4 set screw
G20
1
For M3 screw
1
For M4 screw
1
For cutting wire tie
Belt tension
G10
1
160 N (16.3 kgf)
Belt tension
G20
1
200 N (20.3 kgf)
Ring mounting height
G20
1
16.5 mm
1
For belt tension
1
G10 / G20 Rev.20
Note
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