IAI America RCAW - Manual (Page 69)

4. Maintenance
63
4.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types
[Items Required for Replacement]
y Replacement belt
RA3R······60S2M124R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide
RA4R······60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide
y Allen wrenches
y Tension gauge (capable of tensioning to 7 kgf or greater)
y Strong string, looped (or long tie-band)
y Scale
y Oil-based marker pen
y PC or teaching pendant
[Overview of Replacement]
1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end).
In this position, loosen the motor-unit affixing bolts and replace the belt.
2) Restore the home position.
Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust
the belt to the specified tension.
3) Perform homing using a PC or teaching pendant and check for deviation from the initial home
position.
If there is a deviation, adjust the home offset if you are using an ACON controller. If you are using an
ASEL controller, adjust the home preset.
Home position
Z phase ON
position
Mechanical end
Approx. 2 mm
The countermark on the motor
aligns with this position.
Set by the home offset parameter (ACON) or home
preset parameter (ASEL). (The above value indicates
the factory setting.)
1 mm