TABLE OF CONTENTS
G3 Rev.14 ix
4. Cable 92
4.1 Replacing Cable Unit ............................................................................ 92
4.2 Wiring Diagrams ................................................................................... 98
4.2.1 Signal Cable ............................................................................. 98
4.2.2 Power Cable ............................................................................. 99
4.2.3 User Cable .............................................................................. 101
4.3 Replacing M/C Cable ......................................................................... 102
5. Arm #1 105
5.1 Replacing Joint #1 Motor .................................................................... 106
5.2 Replacing Joint #1 Reduction Gear Unit ............................................ 109
6. Arm #2 112
6.1 Replacing Joint #2 Motor ..................................................................... 113
6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 117
7. Arm #3 120
7.1 Replacing Joint #3 Motor .................................................................... 121
7.2 Replacing the Timing Belt ................................................................... 125
7.3 Replacing the Brake ........................................................................... 129
8. Arm #4 131
8.1 Replacing Joint #4 Motor .................................................................... 132
8.2 Replacing the Timing Belt ................................................................... 136
9. Replacing Arm #1 144
10. Bellows 153
11. Ball Screw Spline Unit 155
11.1 Greasing the Ball Screw Spline Unit ................................................ 155
11.1.1 Standard-model .................................................................... 156
11.1.2 Cleanroom-model / Protected-model ................................... 157
11.2 Replacing the Ball Screw Spline Unit ............................................... 158
12. Lithium Battery 162
12.1 Replacing the Battery Unit (Lithium Battery) .................................... 163
12.2 Replacing the Battery Board ............................................................ 165
13. LED Lamp 167
14. Calibration 168
14.1 About Calibration .............................................................................. 168
14.2 Calibration Procedure ....................................................................... 169
14.3 Accurate Calibration of Joint #2 ....................................................... 179
14.4 Calibration Procedure without using Calibration Wizard.................. 181
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