2.1 Details of Internal Connections
2.2 Handling of the Ball Screw
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
3.2.2 Using the Home Position Jig
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
3.3.2 Using the Home Position Jig
3.3.3 Using Encoder Backup Error Recovery Function
4 Notes on Grease Exchange Procedures
4.1 Grease Application Procedures for the S-axis Speed Reducer
4.2 Grease Application Procedures for the L-axis Speed Reducer
4.3 Grease Application Procedures for the Ball Screw
4.4 Grease Replenishment Procedures for the Ball Screw
5 Disassembly and Reassembly of the Motor
5.1 Disassembly and Reassembly of the S-Axis Motor
5.2 Disassembly and Reassembly of the L-Axis Motor
5.3 Disassembly and Reassembly of the U-Axis Motor
5.4 Disassembly and Reassembly of the R-Axis Motor
6 Disassembly and Reassembly of the Speed Reducer
6.1 Disassembly and Reassembly of the S-Axis Speed Reducer
6.2 Disassembly and Reassembly of the L-Axis Speed Reducer
7 Disassembly and Reassembly of the Ball Screw
8.1 Disassembly and Reassembly of U- and R-axis Timing Belts
8.2 Adjustment of U- and R-axis Timing Belts
9.1 Disassembly and Reassembly of the Manipulator Cable
9.2 Disassembly and Reassembly of the Internal Wiring Harness
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