i.1 Introduction to This Manual
i.2.3 Important Safety Precautions
1 Maintenance and Inspection Precautions
1.1 Internal Wiring Configuration
2.1 Home Position Posture of the Manipulator
2.3 Types of Home Position Return Methods (Manipulator)
2.3.1 Method to Use Teaching Points for Setting Home Positions
2.3.3 Method to Use the Encoder Backup Error Recovery Function
2.3.4 Compatibility Table for Home Position Return Methods
2.4 Home Position Return Methods (Manipulator)
2.4.1 Method to Use Teaching Points for Setting Home Positions
2.4.3 Method to Use the Encoder Backup Error Recovery Function
2.5 Type of Home Position Return Method (Secondary Encoders)
2.6 Home Position Return Method (Secondary Encoders)
2.6.1 Setting Home Positions in the Reference Positions and a No-Load Posture
3.1 Using the L-Axis Fixing Jig
3.1.1 Recommended Mounting Posture for the Special Fixing Jig
3.1.2 Posture Range in Which to Avoid Using the L-Arm
3.1.4 Mounting the L-Axis Fixing Jig
3.1.5 Removing the L-Axis Fixing Jig
4 Replacing and Replenishing Grease
4.1.1 Notes for Safe Operation
4.1.2 Required Tools and Other Items
4.1.3 Recommended Postures for Grease Injection
4.2 Replenishing and Replacing Grease for the Speed Reducer of Each Axis
4.2.1 Preparations before Replenishment and Replacement
4.2.2 Inlet and Exhaust Port Locations for the S-Axis and L-Axis
4.2.3 Inlet and Exhaust Port Locations for the U-Axis, R-Axis, B-Axis, and T-Axis
4.2.4 Grease Replenishment and Replacement Procedure
4.3 Replenishing Grease in the Balancer Link Part
4.3.1 Inlet and Exhaust Port Locations
4.3.2 Grease Replenishment Procedure
4.4 Removing/Applying Sealing Bond and Reassembly
4.4.1 Procedure to Remove and Clean Sealing Bond from Sealing Surface
4.4.2 Procedure to Apply Sealing Bond to Sealing Surface
4.4.3 Reassembly Procedure after Applying Sealing Bond
5.2 Replacing the S-Axis Motor
5.2.2 Removing the S-Axis Motor
5.2.3 Mounting the S-Axis Motor
5.3 Replacing the L-Axis Motor
5.3.2 Removing the L-Axis Motor
5.3.3 Mounting the L-Axis Motor
5.4 Replacing the U-Axis Motor
5.4.2 Removing the U-Axis Motor
5.4.3 Mounting the U-Axis Motor
5.5 Replacing the R-Axis Motor
5.5.2 Removing the R-Axis Motor
5.5.3 Mounting the R-Axis Motor
5.6 Replacing the B-Axis Motor
5.6.2 Removing the B-Axis Motor
5.6.3 Mounting the B-Axis Motor
5.7 Replacing the T-Axis Motor
5.7.2 Removing the T-Axis Motor
5.7.3 Mounting the T-Axis Motor
6.2 Replacing the S-Axis Speed Reducer
6.2.2 Removing the S-Axis Speed Reducer
6.2.3 Mounting the S-Axis Speed Reducer
6.3 Replacing the L-Axis Speed Reducer
6.3.2 Removing the L-Axis Speed Reducer
6.3.3 Mounting the L-Axis Speed Reducer
6.4 Replacing the U-Axis Speed Reducer
6.4.2 Removing the U-Axis Speed Reducer
6.4.3 Mounting the U-Axis Speed Reducer
6.5 Replacing the R-Axis Speed Reducer
6.5.2 Removing the R-Axis Speed Reducer
6.5.3 Mounting the R-Axis Speed Reducer
6.6 Replacing the B-Axis Speed Reducer
6.6.1 Recommended Posture for B-Axis Speed Reducer Disassembly and Reassembly
6.6.3 Removing the B-Axis Speed Reducer
6.6.4 Mounting the B-Axis Speed Reducer
6.7 Replacing the T-Axis Speed Reducer
6.7.2 Removing the T-Axis Speed Reducer
6.7.3 Mounting the T-Axis Speed Reducer
8.1.3 Removing the Balancer Unit
8.1.4 Mounting the Balancer Unit
8.2 Reassembling the Unit Assemblies
8.2.3 Shaft Assembly (Knuckle Part)
8.2.4 Shaft Assembly (Support Part 1)
8.2.5 Shaft Assembly (Support Part 2)
9 Secondary Encoder Replacement
9.2 Removing the Secondary Encoder
9.3 Mounting the Secondary Encoder
10.1 Battery Unit Replacement Procedures
10.1.1 Locations of the Battery Units and Multi-Port Connectors
10.1.2 Configuration of the Multi-Port Connectors
10.1.3 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal Times)
10.1.4 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF
11 Internal Wiring Harness Replacement
11.2 Internal Wiring Harness Replacement
11.2.2 Removing the Internal Wiring Harness
11.2.3 Mounting the Internal Wiring Harness
11.3 Replacing the Internal Wiring Harness (U-Arm Part)
11.3.2 Removing the Internal Wiring Harness (U-Arm)
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