CHAPTER 5
Periodic Inspecition
1 Overview ............................................................................................5-1
2 Precautions .........................................................................................5-2
3 Daily Inspection .................................................................................5-3
4 Six-Month Inspection .........................................................................5-5
5 Replacing the Harmonic Drive ...........................................................5-8
5-1 Replacement period ...................................................................................... 5-8
5-2 Basic replacement procedure for harmonic drive and precautions ...............5-9
5-2-1 R6YXCH250, R6YXCH350, R6YXCH400 ..............................................5-11
5-2-2 R6YXC500, R6YXC600 ........................................................................... 5-27
5-2-3 R6YXC700, R6YXC800, R6YXC1000 ................................................... 5-42
6 Replacing the bellows ......................................................................5-59
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