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Maintenance 5. Replacing the Motors (Joint #3)
Installation
(1) Remove the pulley from the brake.
NOTE
(2) For the brake clearance adjustment, hold
(3) Place the Joint #3 motor on the motor
(4) Secure the pulley to the motor shaft of the
(5) After the pulley is secured, pull out the gap gauge.
(6) Fasten the brake cables to the Joint #3 motor with a wire tie.
118
The rotor hub is held to the brake by its
magnet. When removing the pulley, slide
it out perpendicularly from the shaft to
prevent damage to the leaf spring on the
rotor hub.
the gap gauge on the brake, and then
mount the pulley over the gauge.
The screw hole of the pulley must be
located in the position shown in the figure
on the right.
The gap gauge (0.15 mm) is attached to the
inside of the arm bottom cover for storage.
plate.
The motor cables of the Joint #3 motor and
the flat face of the motor shaft must be
oriented in the direction shown in the
figure on the right.
Joint #3 motor.
To do so, tighten one of the setscrews to
the flat face of the motor shaft until the
screw just touches the surface. Insert a
bushing into the other setscrew hole to
prevent damage to the motor shaft. Then,
tighten both setscrews.
Make sure that the brake cables do not touch the pulleys when installing the Joint #3
motor unit to Arm #2.
Pulley
Remove this way
Screw holes
of the pulley
Brake
2-M4×8
Motor plate
Flat
M4×8
Flat point
setscrew
Pulley
(Flat side)
Leaf spring
Rotor hub
Brake
Rotor hub
Gap gauge for
adjusting brake
clearance
M4×8
Flat point
Setscrew
(Round
chamfer
side)
Bushing
E2C Rev.6
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