Table of Contents
viii C Series Maintenance Manual Rev.2
5.2 Joint #1 - Replacing the Reduction Gear Unit ........................................ 63
Removal: Joint #1 Reduction gear unit .................................................. 64
Installation: Joint #1 Reduction gear unit ............................................... 67
5.3 Joint #1 - Replacing the Timing Belt ...................................................... 71
Removal: Joint #1 Timing belt ................................................................ 71
Installation: Joint #1 Timing belt ............................................................. 71
5.4 Joint #1 - Replacing the Electromagnetic Brake .................................... 72
Removal: Joint #1 Electromagnetic brake .............................................. 72
Installation: Joint #1 Electromagnetic brake ........................................... 72
6. Joint #2 73
6.1 Joint #2 - Replacing the Motor ............................................................... 74
Removal: Joint #2 Motor ......................................................................... 75
Installation: Joint #2 Motor ...................................................................... 77
6.2 Joint #2- Replacing the Reduction Gear Unit ......................................... 79
Removal: Joint #2 Reduction gear unit .................................................. 80
Installation: Joint #2 Reduction gear unit ............................................... 83
6.3 Joint #2 - Replacing the Timing Belt ...................................................... 87
Removal: Joint #2 Timing belt ................................................................ 87
Installation: Joint #2 Timing belt ............................................................. 87
6.4 Joint #2 - Replacing the Electromagnetic Brake .................................... 88
Removal: Joint #2 Electromagnetic brake .............................................. 88
Installation: Joint #2 Electromagnetic brake ........................................... 88
7. Joint #3 89
7.1 Joint #3 - Replacing the Motor (with a Brake) ........................................ 90
Removal: Joint #3 Motor (with a brake).................................................. 90
Installation: Joint #3 Motor (with a brake)............................................... 92
7.2 Joint #3 - Replacing the Reduction Gear Unit ........................................ 94
Removal: Joint #3 Reduction gear unit .................................................. 94
Installation: Joint #3 Reduction gear unit ............................................... 98
7.3 Joint #3 - Replacing the Timing Belt .................................................... 102
Removal: Joint #3 Timing belt .............................................................. 102
Installation: Joint #3 Timing belt ........................................................... 102
8. Joint #4 103
8.1 Joint #4 - Replacing the Motor ............................................................. 104
Removal: Joint #4 Motor ....................................................................... 104
Installation: Joint #4 Motor .................................................................... 106
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