YRC1000: GP12/AR1440 Maintenance

1 Introduction
2 Notes for Maintenance
    2.1 U-Arm
    2.2 Details of Internal Connections
    2.3 Multi-Port Connector
3 Home Position Return
    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 Keys
        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
            3.3.1.1 Preparation
            3.3.1.2 Replacement of Motor or Speed Reducer
            3.3.1.3 Home Position Adjustment
        3.3.2 Using Keys
        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 S-, L-, U-Axis Speed Reducer
        4.1.1 Notes on Grease Exchange Procedures
        4.1.2 Grease Exchange Procedure
    4.2 Grease Replenishment Procedures for R-, B-Axis Speed Reducer and R-,T-Axis Gear
        4.2.1 Notes on Grease Replenishment Procedures
        4.2.2 Grease Replenishment Procedures for R-Axis Speed Reducer
        4.2.3 Grease Replenishment Procedures for B-Axis Speed Reducer
        4.2.4 Grease Replenishment Procedures for R-Axis Gear
        4.2.5 Grease Replenishment Procedures for T-Axis Gear
5 Disassembly/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
    5.5 Disassembly/Reassembly of B-Axis Motor
    5.6 Disassembly/Reassembly of T-Axis Motor
6 Disassembly/Reassembly of Speed Reducer
    6.1 Disassembly/Reassembly of S-Axis Speed Reducer
    6.2 Disassembly/Reassembly of L-Axis Speed Reducer
    6.3 Disassembly/Reassembly of U-Axis Speed Reducer
    6.4 Disassembly/Reassembly of R-Axis Speed Reducer
    6.5 Disassembly/Reassembly of B-Axis Speed Reducer
7 Disassembly/Reassembly of Wrist Unit
8 Disassembly/Reassembly and Adjustment of B- and T-Axis Timing Belts
    8.1 Disassembly/Reassembly of B- and T-axis Timing Belts
    8.2 Adjustment of B- and T-Axis Timing Belts
9 Cable Wiring
    9.1 Disassembly/Reassembly of Internal Wiring Harness
    9.2 Disassembly/Reassembly of Internal Wiring Harness for B- and T-Axes
10 Protective Tube Replacement
11 Battery Pack Replacement
12 Parts List
    12.1 S-Axis Unit
    12.2 L-Axis Unit
    12.3 U-Axis Unit
    12.4 R-Axis Unit
    12.5 Wrist Unit