SMC Networks ROBO Cylinder RGD4D - Manual (Page 46)

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14.5.3 Adjusting the Belt Tension (RA4R Type)
Remove the pulley case cover and loosen the four motor-unit affixing bolts.
Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension
using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts.
[Recommended tightening torque of adjustment bolts]
162 N-cm (16.5 kgf-cm)
Tension: 2.5 kgf
Motor-unit affixing bolts
(Use an Allen wrench of 2.5 mm across flats.)
Motor-unit affixing bolts
(Use an Allen wrench of 2.5 mm across flats.)