2.2 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 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
4 Grease Replenishment/Exchange
5 Disassembly and Reassembly of Arm Unit Assembly
5.1 Disassembly and Reassembly of Arm Unit Assembly
6 Disassembly and Reassembly of Motor
6.1 Disassembly and Reassembly of S1-axis Motor
6.2 Disassembly and Reassembly of S2-1- and S3-1-axis Motor
6.3 Disassembly and Reassembly of S2-2- and S3-2-axis Motor
6.4 Disassembly and Reassembly of S2-3- and S3-3-axis Motor
7 Disassembly and Reassembly of Wrist Assembly
7.1 Disassembly and Reassembly of Wrist Assembly
8 Disassembly and Reassembly of Speed Reducer
8.1 Disassembly and Reassembly of S1-axis Speed Reducer
8.2 Disassembly and Reassembly of S2-1- and S3-1-axis Speed Reducer
8.3 Disassembly and Reassembly of S2-2- and S3-2-axis Speed Reducer
8.4 Disassembly and Reassembly of S2-3- and S3-3-axis Speed Reducer
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