Step 6: J5-J6-J7 Sub-Assembly

1. Install the FL6700ZZ bearing into the sheet metal component J6_A, and gently insert J7_B into the bearing, aligning it as shown in the figure.

2. Repeat the procedure with J6_B

3. Attach J5_A to the rotor of J5 motor using 6 M3x18 bolts

4. Attach the J6_B component to J5_A using 3 M3x8 bolts. Ensure that J6_B is aligned towards the mechanical stop of J5_A

5. Attach the component J6_A to J5_A using 3 M3x8 bolts.

6. Attach component J6_D to motor J6 using four M3x6 bolts. Ensure that J6_D is aligned so its top and bottom line up with the two Power+CAN ports.

7. Attach J7_E to the rotor of J6 using 6 M3x6 bolts

8. Carefully place the motor J6 between J6_A and J6_B, and securely fasten it to J6_A using 4 M3x6 bolts. As a check, the communication port should be in line with J7_E

tip

When looking straight at J6_B, J7_E should be protruding to the right for the right arm, and to the left for the left arm.

9. Attach part J7_A to the J7 motor using three M3x8 bolts. Make sure the orientation matches the image, with the top bolt aligned with the Power+CAN port.

10. Using two M3x8 bolts, mount part J7_C to the back of motor J7 as shown. Check that it’s aligned correctly and runs parallel to the line between the two Power+CAN ports.

tip

While assembling the left arm, mount the part J7_C on the opposite side.

11. Insert bearings MR106ZZ1 into the two holes of part J7_D_right.

tip

For assembling the left arm, use the part J7_D_left.

12. Carefully place the motor J7 between the J6_A and J6_B sheet metal pieces, and attach the two J7_B pieces to J7_A using 2 M3x8 bolts on each side.

tip

J7_C and J7_E should face the same direction once this step is completed

13. Attach the component J7_D_right to both J7_C and J7_E using the step bolt DBSY4-6-5 with 4 washers SWSPS12-6-0.5 between the step bolt and J7_D as well as J7_D and J7_C/J7_E.

tip

While assembling the left arm, use the part J7_D_left.

14. Carefully insert J6_C_right part between J6_A and J6_B and secure them using 3 M3x6 bolts

tip

When assembling the left arm, use component J6_C_left.

info

That concludes the J5-J6-J7 Sub-Assembly