Epson E2C Series Manipulator Manual page 12

8. Replacing the Timing Belts
9. Replacing the Bellows (C, CM Types)
10. Greasing and Replacing the Ball Screw Spline Unit
11. Replacing the Signal Relay Board
12. Replacing the Lithium Battery
13. Replacing the LED Lamp
14. Calibration
15. Maintenance Parts List
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8.1 Types of Timing Belts............................................................................ 152
8.2 Location of Timing Belts ........................................................................ 152
8.3 Replacing the Z Belt.............................................................................. 153
8.4 Replacing the U1 Belt ........................................................................... 156
8.5 Replacing the U2 Belt ........................................................................... 159
10.1 Type of Ball Screw Spline Unit ............................................................ 166
10.2 Location of Ball Screw Spline Unit ...................................................... 166
10.3 Greasing the Ball Screw Spline Unit ................................................... 167
10.3.1 S, SM Type Manipulators ........................................................ 167
10.3.2 C, CM Type Manipulators ........................................................ 169
10.4 Replacing the Ball Screw Spline Unit .................................................. 171
11.1 Before Replacing the Signal Relay Board ........................................... 177
11.2 How to Replace the Signal Relay Board ............................................. 178
11.2.1 S, C Type Manipulators ........................................................... 178
11.2.2 SM, CM Type Manipulators ..................................................... 180
12.1 Before Replacing the Lithium Battery.................................................. 184
12.2 How to Replace the Lithium Battery.................................................... 185
14.1 About Calibration ................................................................................ 189
14.2 Calibration Procedure ......................................................................... 190
14.3 Accurate Calibration of Joint #2 .......................................................... 193
15.1 Common Parts for All Manipulator Types ............................................ 195
15.2 S, SM Type Manipulators .................................................................... 196
15.3 C, CM Type Manipulators.................................................................... 196
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E2C Rev.6