4 Repair
4.3.3 Dismantling the lower arm
3HAC026320-001 Revision: A 83
6.
Replace the balancing springs. Detailed in section:
Dismantling the balancing
springs on page 85.
7.
Replace the cabling as described in . Detailed in section:
Cabling and serial measur-
ing board on page 102.
8.
Calibrate the robot. Detailed in section:
Calibration methods on
page 115.
Action Note/Illustration
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