Publication Robotics Documentation : Assembly of jcs4 with hard limit or forearm excha...

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Assembly of jcs4 with hard limit or forearm exchange

Pin

l To fit the cover on jcs, the pin hole must be located on middle of motor hole. On above picture, the pin is on jcs
bottom. This pin is no longer visible from the moment the cover is installed on the jcs.
l There is no issue with sliding hard limit position. It only needs to fit between jcs and cover slots.
l Before fitting forearm onto elbow, turn jcs4 output in order to see the hard limit centered in motor hole. Jcs hard
limit is the metallic part on which sliding aluminium hard limit leans.

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Publication Robotics Documentation : Assembly of jcs4 with hard limit or forearm excha... Page 2 of 2

l Screw forearm on casting with scribe marks aligned close to Ready position. Then install the motor.

Caution: During forearm disassembly, localise it's position relative to jcs output. Otherwyse you won't have axis 4
symmetry.

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