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Removal: Joint #1 Reduction gear unit (M/C cable downward)
■ This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator.
maintenance.
■ Do not loosen the bolts while the Arm #2 is not tilted.
It may cause the belt come off and the Arm #2 falls down, and it is extremely
hazardous. Be sure to do the Removal steps (1) and (2) in Maintenance 6.1 Joint
CAUTION
#2 - Replacing the Motor before removing the motor.
■ When removing the Arm #1, there must be two or more people to work on it so
that at least one of them can support the arm while the others are removing the
bolts.
falling, bodily injury, and/or malfunction of the robot system.
1.
Remove the following parts.
Connector plate
Connector
Brake power supply
For details, refer to Maintenance 5.2.3 Joint #1 - Replacing the Timing Belt (M/C Cable Downward),
Removal steps (1) to (8).
2.
Remove the ground terminals.
Cross recessed head screws with washer : 9-M4×8, 2-M3×6
3.
Remove the Joint #1 reduction gear unit.
For details, refer to Maintenance 5.1.2 Joint #1 - Replacing the Reduction Gear Unit (M/C Cable
Backward), Removal steps (4) to (14).
C12 Rev.3
Removing the bolts without supporting the arm may result in the arm
Maintenance 5. Joint #1
Be very careful when performing
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