6. Replacing the Reduction Gear Units Part 2: Maintenance
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(10) Secure Arm #1. Support the arm with more than one person. While the arm is being
supported, have another person fasten eight bolts (M4×40 for the ES series; M5×55 for
the EL series) to attach Arm #1. Be careful not to drop or hit the arm.
Fastening bolts
(ES:M4×40)
(EL:M5×55)
(11) Connect the signal connector X11 and power connector X110. Then, attach the base
connector plate to the base. (Refer to chapter 2. Opening the Covers.)
X11
X110
Base connector plate
(12) Connect the power cable and signal cable to the base connector plate.
(13) Attach the Joint #1 cover to Arm #1 with a bolt (M4×8).
(14) The mechanical origin position and teach points change when the reduction gear unit is
replaced. Be sure to calibrate Joint #1. (Refer to chapter 11. Calibration).
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