Table of Contents
C Series Maintenance Manual Rev.2 xiii
8. Joint #4 344
8.1 Joint #4 - Replacing the Motor .............................................................. 345
8.2 Joint #4 - Replacing the Reduction Gear Unit ...................................... 351
8.3 Joint #4 - Replacing the Timing Belt ..................................................... 358
8.4 Joint #4 - Replacing the Electromagnetic Brake .................................. 364
9. Joint #5 365
9.1 Joint #5 - Replacing the Motor .............................................................. 366
9.2 Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6
Reduction Gear Unit Set) ...................................................................... 373
9.3 Joint #5 - Replacing the Timing Belt ..................................................... 378
9.4 Joint #5 - Replacing the Electromagnetic Brake .................................. 379
10. Joint #6 381
10.1 Joint #6 - Replacing the Motor ............................................................ 382
10.2 Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5,
#6 Reduction Gear Unit Set) ................................................................. 388
10.3 Joint #6 - Replacing the Timing Belt ................................................... 388
10.4 Joint #6 - Replacing the Electromagnetic Brake ................................ 389
11. Replacing the Battery Unit 391
11.1 Replacing the Battery Unit (Lithium Battery) ...................................... 393
11.2 Replacing the Battery Board ............................................................... 395
12. Replacing the Control Board 398
12.1 Replacing the Control Board 1 ........................................................... 399
12.2 Replacing the Control Board 2 ........................................................... 401
13. Replacing the LED Lamp 403
14. Replacing the M/C Cable 405
15. Replacing the Fan 408
16. Calibration 410
16.1 Overview ............................................................................................. 410
16.2 Calibration Procedure ......................................................................... 413
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