TABLE OF CONTENTS
xii VT Rev.1
8. Cable 147
8.1 Replacing Cable Unit ....................................................................... 148
8.2 Insert or Pull out of Power Cable ..................................................... 164
9. Joint #1 165
9.1 Replacing Joint #1 Motor ................................................................. 166
9.2 Replacing Joint #1 Reduction Gear Unit .......................................... 170
9.3 Replacing Joint #1 Timing Belt ........................................................ 171
10. Joint #2 176
10.1 Replacing Joint #2 Motor ............................................................... 177
10.2 Replacing Joint #2 Reduction Gear Unit ........................................ 183
10.3 Replacing Joint #2 Timing Belt ...................................................... 184
11. Joint #3 185
11.1 Replacing Joint #3 Motor ............................................................... 186
11.2 Replacing Joint #3 Reduction Gear Unit ........................................ 192
11.3 Replacing Joint #3 Timing Belt ...................................................... 193
12. Joint #4 194
12.1 Replacing Joint #4 Motor ............................................................... 195
12.2 Replacing Joint #4 Reduction Gear Unit ........................................ 200
12.3 Replacing Joint #4 Timing Belt ...................................................... 201
13. Joint #5 205
13.1 Replacing Joint #5 Motor ............................................................... 206
13.2 Replacing Joint #5 Reduction Gear Unit ........................................ 210
13.3 Replacing Joint #5 Timing Belt ...................................................... 211
14. Joint #6 212
14.1 Replacing Joint #6 Motor ............................................................... 213
14.2 Replacing Joint #6 Reduction Gear Unit ........................................ 217
14.3 Replacing Joint #6 Timing Belt ...................................................... 218
15. AMP Board 219
15.1 Replacing AMP Board on Joint #1, #2, and #3 .............................. 221
15.2 Replacing AMP Board on Joint #4 ................................................. 223
15.3 Replacing AMP Board on Joint #5 and #6 ..................................... 224
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