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 Notes on Grease Replenishment/Exchange Procedures
4.1 Grease Exchange Procedures for Gear of Each Axis Speed Reducer
4.1.1 Notes on Grease Exchange Procedures
4.1.2 Grease Exchange Procedure
4.1.3 Grease Replenishment for U-Axis Cross Roller Bearing
4.1.4 Grease Replenishment for Tapered Roller Bearing in the Link Part
4.2 Removing, Applying, Assembling of Sealing Bond
4.2.1 Removing Sealing Bond from Sealing Surface and Cleaning
4.2.2 Applying Sealing Bond to Sealing Surface
4.2.3 Assembling After Applying Sealing Bond
5 Disassembly and Reassembly of Motor
5.1 Disassembly and Reassembly of S-Axis Motor
5.2 Disassembly and Reassembly of L-Axis Motor
5.3 Disassembly and Reassembly of U-Axis Motor
5.4 Disassembly and Reassembly of R-, B-, T-Axis Motors
6 Disassembly and Reassembly of Speed Reducer
6.1 Disassembly and Reassembly of S-Axis Speed Reducer
6.2 Disassembly and Reassembly of L-Axis Speed Reducer
6.3 Disassembly and Reassembly of U-Axis Speed Reducer
6.4 Disassembly and Reassembly of R-Axis Speed Reducer
6.5 Disassembly and Reassembly of B-Axis Speed Reducer
6.6 Disassembly and Reassembly of T-Axis Speed Reducer
7 Disassembly and Reassembly of Wrist Unit
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