Table of Contents
iv
176183-1CD
HW1483638
MH5S(II)/MH5F
5 Disassembly and Reassembly of the Motor.................................................................................... 5-1
5.1 Disassembly and Reassembly of the S-Axis Motor ........................................................... 5-1
5.2 Disassembly and Reassembly of the L-Axis Motor............................................................ 5-3
5.3 Disassembly and Reassembly of the U-Axis Motor ........................................................... 5-6
5.4 Disassembly and Reassembly of the R-Axis Motor ........................................................... 5-9
5.5 Disassembly and Reassembly of B-Axis Motor ............................................................... 5-11
5.6 Disassembly and Reassembly of T-Axis Motor ............................................................... 5-13
6 Disassembly and Reassembly of Speed Reducer .......................................................................... 6-1
6.1 Disassembly and Reassembly of S-Axis Speed Reducer ................................................. 6-1
6.2 Disassembly and Reassembly of L-Axis Speed Reducer.................................................. 6-4
6.3 Disassembly and Reassembly of U-Axis Speed Reducer ................................................. 6-8
6.4 Disassembly and Reassembly of R-Axis Speed Reducer ............................................... 6-12
6.5 Disassembly and Reassembly of B-Axis Speed Reducer ............................................... 6-15
6.6 Disassembly and Reassembly of T-Axis Speed Reducer................................................ 6-19
7 Disassembly and Reassembly of Wrist Unit ................................................................................... 7-1
8 Disassembly and Reassembly and Adjustment of Timing Belts ..................................................... 8-1
8.1 Disassembly and Reassembly of L- and U-Axis Timing Belts ........................................... 8-1
8.2 Disassembly and Reassembly of R-Axis Timing Belt ........................................................ 8-3
8.3 Disassembly and Reassembly of B- and T-Axis Timing Belts ........................................... 8-5
8.4 Adjustment of Timing Belts ................................................................................................8-7
9 Battery Pack Replacement.............................................................................................................. 9-1
9.1 Battery Pack Replacement ................................................................................................ 9-1
10 Cable Wiring................................................................................................................................ 10-1
10.1 Disconnecting Cables .................................................................................................... 10-1
10.1.1 Wrist Unit .......................................................................................................... 10-1
10.1.2 Casing and L-Arm............................................................................................. 10-2
10.1.3 S-Head and Base ............................................................................................. 10-4
10.2 Connecting Cables......................................................................................................... 10-6
10.2.1 S-Head and Base ............................................................................................. 10-6
10.2.2 U-Arm and Casing ............................................................................................ 10-6
10.2.3 Wrist Unit .......................................................................................................... 10-7
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