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8.2 Joint #4 - Replacing the Reduction Gear Unit ...................................... 109
8.3 Joint #4 - Replacing the Timing Belt ..................................................... 116
8.4 Joint #4 - Replacing the Electromagnetic Brake .................................. 117
9.1 Joint #5 - Replacing the Motor .............................................................. 119
9.2 Joint #5 - Replacing the Reduction Gear Unit ...................................... 123
9.3 Joint #5 - Replacing the Timing Belt ..................................................... 133
9.4 Joint #5 - Replacing the Electromagnetic Brake .................................. 134
10.1 Joint #6 - Replacing the Motor ............................................................ 136
10.2 Joint #6 - Replacing the Reduction Gear Unit .................................... 140
10.3 Joint #6 - Replacing the Timing Belt ................................................... 145
10.4 Joint #6 - Replacing the Electromagnetic Brake ................................ 146
C Series Maintenance Manual Rev.2
Removal: Joint #4 Reduction gear unit ................................................. 109
Installation: Joint #4 Reduction gear unit.............................................. 112
Removal: Joint #4 Timing belt .............................................................. 116
Installation: Joint #4 Timing belt ........................................................... 116
Removal: Joint #4 Electromagnetic brake ............................................ 117
Installation: Joint #4 Electromagnetic brake ......................................... 117
Removal: Joint #5 Motor ....................................................................... 119
Installation: Joint #5 Motor .................................................................... 121
Removal: Joint #5 Reduction gear unit ................................................. 123
Installation: Joint #5 Reduction gear unit.............................................. 127
Removal: Joint #5 Timing belt .............................................................. 133
Installation: Joint #5 Timing belt. .......................................................... 133
Removal: Joint #5 Electromagnetic brake ............................................ 134
Installation: Joint #5 Electromagnetic brake ......................................... 134
Removal: Joint #6 Motor ....................................................................... 136
Installation: Joint #6 motor .................................................................... 138
Removal: Joint #6 Reduction gear unit ................................................. 140
Installation: Joint #6 Reduction gear unit.............................................. 143
Removal: Joint #6 Timing belt .............................................................. 145
Installation: Joint #6 Timing belt ........................................................... 145
Removal: Joint #6 Electromagnetic brake ............................................ 146
Installation: Joint #5 Electromagnetic brake ......................................... 146
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