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Installation: Joint #1 Motor
NOTE
When tightening hexagon socket head cap bolts, refer to the 2.4 Tightening Hexagon Socket
Head Cap Bolts.
1. Mount the motor plate to the Joint #1 motor.
Hexagon socket head cap bolts: 4-M5×15
Tightening torque: 9.8 N·m (100 kgf·cm)
Be careful of the direction of the motor plate. (See the photo.)
2. Install the electromagnetic brake of the Joint #1 to the Joint #1 motor
unit.
Be careful of the direction of the electromagnetic brake.
Align the wiring position of the brake and the clearance groove on
the motor plate. Fix the flat surface of the electromagnetic brake to
the set screw side.
Be careful not to cut the cable by getting it caught between the brake
and the plate.
Secure the set screw while pressing the electromagnetic brake to the
motor plate.
Hexagon socket head set screw: 1-M5×8
Tightening torque: 3.9 N·m (40 kgf·cm)
3. Install the drive boss and the pulley 1 to the Joint #1 motor unit.
Fix the drive boss and the pulley 1 with the end surfaces of each part
together.
Hexagon socket head set screws: 2-M5×6 (with a brass bushing)
Tightening torque: 3.9 N·m (40 kgf·cm)
Fix the pulley 1 and the motor shaft.
Leave 0.5 mm between the electromagnetic brake and the pulley.
Refer to the photo for layout of the set screws.
Hexagon socket head set screws: 2-M5×10 (with a brass bushing)
Tightening torque: 3.9 N·m (40 kgf·cm)
C Series Maintenance Manual Rev.2
C4 Maintenance 5. Joint #1
Motor cable
Hole
Flat surface
2-M5×10
t = 0.5
mm
Groove
2-M5×6
Brass
bushing
61
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