4.4. Timing belt check

4.4. Timing belt check

 

The wrist axis drive part is driven by a timing belt. When it comes to the timing belt driving, check the belt tension after every 1,500 hr or when vibration/noise occurs. Improperly tensioned timing belts may have a significant negative impact on the performance of the robot.

 

n Checking the timing belt

①    Turn off the power.

②    Remove the wrist cover.

③    Place the microphone of the sonic belt tensioner on the belt opposite to the idler and apply impact to the belt.

④    Check the tension frequency value.

⑤    If the tension frequency value is outside the tension frequency range in the table below, loosen the idler bolt a little bit.

⑥    Rotate the idler to adjust the timing belt tension and fasten the idler bolt (340 kgfcm).

⑦    Check the tension frequency value again and repeat the above steps ⑤ ~ ⑥ to ensure that the tension comes within the tension frequency range in the table below.

⑧    Assemble the wrist cover.

⑨    Turn on the power.

 

 

Figure 4.2 Timing belt tension check area

 

Table 4‑4 Timing belt tension

	B axis	R1 axis
Tension range	67 ~ 79 Hz	73 ~ 84 Hz