S5 Rev.5 xi
4. Joint #1 ········································································ 96
4.1 Replacing the Joint #1 Motor .............................................................. 96
4.2 Replacing the Joint #1 Reduction Gear Unit .................................... 102
4.2.1 Greasing the Reduction Gear Unit ........................................ 103
4.2.2 Replacing the Reduction Gear Unit ...................................... 104
5. Joint #2 ······································································ 110
5.1 Replacing the Joint #2 Motor ............................................................. 110
5.2 Replacing the Joint #2 Reduction Gear Unit ..................................... 114
5.2.1 Greasing the Reduction Gear Unit ......................................... 116
5.2.2 Replacing the Reduction Gear Unit ....................................... 117
5.3 Replacing the Joint #2 Timing Belt ................................................... 124
6. Joint #3 ······································································ 126
6.1 Replacing the Joint #3 Motor ............................................................ 126
6.2 Replacing the Joint #3 Reduction Gear Unit .................................... 130
6.2.1 Greasing the Reduction Gear Unit ........................................ 131
6.2.2 Replacing the Reduction Gear Unit ...................................... 133
6.3 Replacing the Joint #3 Timing Belt ................................................... 140
7. Joint #4 ······································································ 142
7.1 Replacing the Joint #4 Motor ............................................................ 142
7.2 Replacing the Joint #4 Reduction Gear Unit .................................... 145
7.2.1 Greasing the Reduction Gear Unit ........................................ 146
7.2.2 Replacing the Reduction Gear Unit ...................................... 147
7.3 Replacing the Joint #4 Timing Belt ................................................... 153
8. Joint #5 & Joint #6 ························································ 155
8.1 Replacing the Joint #5 & Joint #6 Motor ........................................... 155
8.2 Replacing the Joint #5 & Joint #6 Timing Belt .................................. 160
8.3 Replacing the Joint #5 & Joint #6 Brake ............................................ 162
9. Cable Unit ··································································· 163
9.1 Replacing the Cable Unit .................................................................. 163
9.2 Wiring Diagrams .............................................................................. 175
9.2.1 Signal Cable .......................................................................... 175
9.2.2 Power Cable .......................................................................... 176
9.2.3 User Cable ............................................................................ 177
9.3 Replacing the M/C Cable .................................................................... 178
10. Battery Unit (Lithium Battery) ········································ 181
10.1 Precautions of the Data .................................................................. 181
10.2 Replacing the Battery Unit ............................................................ 182
10.3 Data Recovery ............................................................................... 184
11. Replacing the LED Lamp ·············································· 186
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