TABLE OF CONTENTS
G6 Rev.21 ix
3.6 User Plate ........................................................................................ 104
3.7 Maintenance Plate ........................................................................... 104
3.8 Base Bottom Cover ......................................................................... 105
4. Cable 106
4.1 Replacing Cable Unit ....................................................................... 107
4.2 Wiring Diagrams .............................................................................. 118
4.2.1 Signal Cable ........................................................................ 118
4.2.2 Power Cable ........................................................................ 119
4.2.3 User Cable ........................................................................... 121
4.3 Replacing M/C Cable ...................................................................... 122
5. Arm #1 125
5.1 Replacing Joint #1 Motor ................................................................. 126
5.2 Replacing Joint #1 Reduction Gear Unit ......................................... 128
6. Arm #2 131
6.1 Replacing Joint #2 Motor ................................................................. 132
6.2 Replacing Joint #2 Reduction Gear Unit ......................................... 135
7. Arm #3 138
7.1 Replacing Joint #3 Motor ................................................................. 139
7.2 Replacing the Timing Belt ............................................................... 143
7.3 Replacing the Brake ........................................................................ 146
8. Arm #4 149
8.1 Replacing Joint #4 Motor ................................................................. 150
8.2 Replacing the Timing Belt ............................................................... 154
8.3 Replacing the Brake ........................................................................ 162
9. Bellows 165
10. Ball Screw Spline Unit 168
10.1 Greasing the Ball Screw Spline Unit ............................................. 169
10.1.1 Standard-model ................................................................. 169
10.1.2 Cleanroom-model, Protected-model ................................. 170
10.2 Replacing the Ball Screw Spline Unit ............................................ 171
11. Lithium Battery 177
11.1 Replacing the Battery Unit (Lithium Battery) ................................. 179
11.2 Replacing the Battery Board ......................................................... 180
12. LED Lamp 182
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