Epson E2C Series Manipulator Manual page 188

Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
(18) Grease the shaft.
(19) Turn OFF the Controller and peripheral equipment. Install the end effector and
(20) Perform the calibration of Joints #3 and #4.
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For details on the greasing method, refer to Maintenance: 10.3. Greasing the Ball
Screw Spline Unit.
bellows, and connect wires and tubes to the end effector.
For details on the calibration method, refer to Maintenance: 14. Calibration.
E2C Rev.6