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11. Calibration .............................................................................. 179
11.1 Calibration for EPSON RC+ Controller .............................................180
Common procedure for calibration............................................................180
Calibrating Joint #3 ...................................................................................182
Calibrating Joint #1, #2, and #4 ................................................................183
Accurate calibration of Joint #2 ................................................................. 184
11.2 Calibration for SPEL 95 / SRC-5** Controller ...................................186
Common procedure for calibration............................................................186
Calibrating Joint #3 ...................................................................................188
Calibrating Joint #1, #2, and #4 ................................................................189
Accurate calibration of Joint #2 ................................................................. 190
11.3 Calibration for SRC-3** Controllers...................................................192
Common procedure for calibration............................................................192
Calibrating Axis #3 ....................................................................................194
Calibrating Axes #1, #2, and #4 ................................................................195
Accurate calibration of Axis #2..................................................................196
12. Clean Model Maintenance..................................................... 199
12.1 Greasing the Ball Screw Spline Unit.................................................199
12.2 Replacing the Bellows.......................................................................201
13. Protected Model Maintenance .............................................. 203
13.1 Safety Precautions............................................................................203
13.2 Sealing the Manipulator ....................................................................204
13.3 Internal Layout ..................................................................................206
13.4 Replacing the Cable Unit ..................................................................207
13.5 Wiring Schematic 1........................................................................... 211
13.6 Wiring Schematic 2...........................................................................212
13.7 Greasing the Ball Screw Spline Unit.................................................213
13.8 Replacing the Bellows.......................................................................215
13.9 Replacing the Signal Relay Board ....................................................220
14. Maintenance Part Lists.......................................................... 221
14.1 Maintenance Parts for All Models .....................................................221
14.2 Maintenance Parts for Standard-model............................................222
14.3 Maintenance Parts for Clean-model .................................................222
14.4 Maintenance Parts for Protected-model...........................................223
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