2.1 Details of Internal Connections
3.1 Home Position Posture of Manipulator
3.2 Types of Methods for Home Position Return
3.2.1 Using a Teaching Point for Setting the Home Position
3.2.3 Using Encoder Backup Error Recovery Function
3.2.4 Robot Calibration (MOTOCALV EG)
3.2.5 Table of Suitable Methods for Home Position Return
3.3 Methods for Home Position Return
3.3.1 Using a Teaching Point for Setting the Home Position
3.3.1.2 Replacement of Motor or Speed Reducer
3.3.1.3 Home Position Adjustment
3.3.3 Using Encoder Backup Error Recovery Function
3.3.4 Robot Calibration (MOTOCALV EG)
4.1.1 Recommended Installation Posture of the Specified Fixing Jig
4.1.2 Range of L-Arm Postures to Avoid
4.2 Installation and Removal of the L-axis Fixing Jig
5 Notes on Grease Replenishment/Exchange Procedures
5.1 Grease Exchange Procedures for Each Axis Speed Reducer
5.1.1 Notes on Grease Exchange Procedures
5.1.2 Grease Exchange Procedure
5.1.3 Grease Replenishment for Balancer Link Part
5.2 Removing, Applying, Assembling of Sealing Bond
5.2.1 Removing Sealing Bond from Sealing Surface and Cleaning
5.2.2 Applying Sealing Bond to Sealing Surface
5.2.3 Assembling After Applying Sealing Bond
6 Disassembly and Reassembly of the Motors
6.1 Disassembly and Reassembly of the S-Axis Motor
6.2 Disassembly and Reassembly of the L-Axis Motor
6.3 Disassembly and Reassembly of U-Axis Motor
6.4 Disassembly and Reassembly of the R-, B-, T-Axis Motors
7 Disassembly and Reassembly of the Speed Reducers
7.1 Disassembly and Reassembly of S-Axis Speed Reducer
7.2 Disassembly and Reassembly of L-Axis Speed Reducer
7.3 Disassembly and Reassembly of U-Axis Speed Reducer
7.4 Disassembly and Reassembly of R-Axis Speed Reducer
7.5 Disassembly and Reassembly of B-Axis Speed Reducer
7.6 Disassembly and Reassembly of T-Axis Speed Reducer
8 Disassembly and Reassembly of Wrist Unit
9.1 Disassembly and Reassembly of Internal Wiring Harness
10 Disassembly and Reassembly of Balancer Unit
10.1 Notes when Disassembling and Reassembling the Balancer Unit
10.2 Disassembly and Reassembly of Balancer Unit
10.3.2 Shaft Assembly (Knuckle Part)
10.3.3 Shaft Assembly (Support Part 1)
10.3.4 Shaft Assembly (Support Part 2)
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