Table of Contents
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E2C Rev.6
3.1 Arm Top Cover.........................................................................................82
3.2 Arm Bottom Cover ...................................................................................83
3.3 Joint #1 Cover .........................................................................................83
3.4 Base Connector Box................................................................................84
3.4.1 S, C Type Manipulators................................................................84
3.4.2 SM, CM Type Manipulators..........................................................84
4.1 Before Replacing the Cable Unit .............................................................86
4.2 How to Replace the Cable Unit ...............................................................86
4.2.1 S, C Type Manipulators................................................................87
4.2.2 SM, CM Type Manipulators..........................................................92
4.3 Wiring Schematics...................................................................................97
4.3.1 S, C Type Manipulators................................................................97
4.3.2 SM, CM Type Manipulators..........................................................98
4.4 Block Diagrams .......................................................................................99
4.5 Connector Pin Assignments ..................................................................100
5.1 Types of Motors .....................................................................................108
5.2 Location of Motors .................................................................................108
5.3 Replacing the Joint #1 Motor.................................................................109
5.3.1 S, C Type Manipulators..............................................................109
5.3.2 SM, CM Type Manipulators........................................................ 111
5.4 Replacing the Joint #2 Motor................................................................. 113
5.5 Replacing the Joint #3 Motor................................................................. 116
5.6 Replacing the Joint #4 Motor.................................................................120
6.1 Types of Reduction Gear Units..............................................................124
6.2 Location of Reduction Gear Units..........................................................124
6.3 Structure of Reduction Gear Unit...........................................................125
6.4 Greasing the Reduction Gear Units......................................................126
6.5 Replacing the Joint #1 Reduction Gear Unit..........................................127
6.5.1 S, C Type Manipulators..............................................................127
6.5.2 SM, CM Type Manipulators........................................................133
6.6 Replacing the Joint #2 Reduction Gear Unit..........................................139
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107
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