Step 13: Install and Connect the Wrist Actuator
Attach part 300_10A to part 300_16C with M4x10 flat bolts, install actuator ID 22 with parts 300_11A and 300_12B and threadlocked M3x12 flat bolts, then connect it to actuator ID 21.
Parts needed
| Part | Count |
|---|---|
| Assembly from Step 12 | 1 |
| 1 | |
| 1 | |
| 1 | |
| EC-A4310-P2-36 (ID 22) | 1 |
| M4x10 flat bolts | 3 |
| M3x12 flat bolts | 16 |
| Threadlocker | As needed |
Instructions
Take assembly from Step 12 and flip it around such that part with the bearing is facing the ceiling. Take part , align the protrusion with the bearing on part and align the 3 holes on it with part .
Take 3 - M4x10 flat bolts and lightly tighten into the 3 holes on part to align with part .
Take actuator EC-A4310-P2-36 (ID 22), align the port with the port cut-out on part , then slot it into the hollow part.
Take part and align it 4 holes at 4 corners with the 4 threaded holes on part . Also, align the 6 holes inner holes on the part with the threaded holes on the actuator shell.
Take 10 - M3x12 flat bolts and lightly tighten into the 10 holes on part to align with and the actuator.
After the parts are aligned:
- remove each of the 6 – M3x12 inner flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
After the parts are aligned:
- remove each of the 4 – M3x12 corner flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and part together.
Take part and align the 6 holes on it with the 6 threaded holes on the actuator shaft.
Take 6 - M3x12 flat bolts and lightly tighten into the 6 holes on part to align with the actuator.
After the parts are aligned:
- remove each of the 6 – M3x12 flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Connect the free connector of the double-ended XT30 (2+2) cable from actuator ID 21 to the port on actuator ID 22.
How is this guide?
Step 12: Attach the Elbow Shaft Plate and Actuator Housing
Attach part 300_09A to the shaft of actuator ID 21 with six threadlocked M3x16 flat bolts and attach part 300_16C with three threadlocked M4x10 flat bolts.
Step 14: Connect the Shoulder and Elbow Assemblies
Connect the leads from actuators ID 20 and ID 21 with four WAGO connectors, join parts 300_15C and 300_06B with six threadlocked M4x12 socket bolts, and stage twelve M4x45 socket bolts for torso installation.