3.2 Homing Method When the Motor Battery Runs Out
3.2.1 With the Home Position Calibration Function for Restoration from the Battery Back Up
3.2.2 With the Home-position Slots (S1-, S2-, and S3-axes)
3.2.3 Positioning by Using the Home Position Mark (S1-axis)
4 Grease Replenishment and Exchange
4.1 Grease Replenishment and Exchange Procedures for S1-, S2-, and S3-Axis Speed Reducers
4.1.1 Grease Replenishment and Exchange Procedures for S1-Axis Speed Reducer
4.1.2 Grease Exchange for S2- and S3-Axes
4.2 Grease Application Procedures for S1-Axis Gear
4.3 Grease Replenishment/Exchange for Cross Roller Ring
5 Disassembly and Reassembly of S2- and S3-Axis Timing Belts
6 Disassembly and Reassembly of Motor
6.1 Disassembly and Reassembly of S1-Axis Motor
6.2 Disassembly and Reassembly of S2- and S3-Axis Motor
6.2.1 Disassembly and Reassembly Procedures for S2- and S3-Axis Motor
7 Disassembly and Reassembly of Speed Reducer
7.1 Disassembly and Reassembly of S1-axis Speed Reducer
7.3 Disassembly and Reassembly of S2-1-Axis and S3-1-Axis Speed Reducer
7.4 Disassembly and Reassembly of S2-2-Axis and S3-2-Axis Speed Reducer
8 Disassembly and Reassembly of Wrist Unit
9.1 S1-axis Battery Pack Replacement
9.2 Connector for the Motor Detection (With Caution Label)
9.3 S2- and S3-axis Battery Pack Replacement
10 Cable Wiring of Internal Wiring Harness
11 Replacement of Internal Pressure Gasket
12.4 S2- and S3-axis Motor Unit
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