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7. Remove the Joint #4 pulley 1 and the drive boss from the motor
shaft of the Joint #4 motor unit.
Pulley 1 and drive boss screws
Hexagon socket set screws: 2-M4×4 (with a brass bushing)
Drive boss and motor shaft screws
Hexagon socket set screws: 2-M4×4
There is a brass bushing on one of the set screws fixing the drive
boss and the pulley. Be careful not to lose it.
A: Pulley and motor shaft screws
B: Pulley and drive boss screws
C: Bushing
Drive boss
B
8. Remove the Joint #4 electromagnetic brake.
Hexagon socket set screws: 3-M3×15 (with a spacer)
Be careful not to lose the spacers.
9. Remove the motor plate from the Joint #4 motor.
Hexagon socket head cap bolts: 2-M4×10
C8 Rev.13
Pulley
A
A
C
Maintenance 8. Joint #4
255
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