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8. Joint #4
8.1 Joint #4 - Replacing the Motor .............................................................. 345
8.2 Joint #4 - Replacing the Reduction Gear Unit ...................................... 351
8.3 Joint #4 - Replacing the Timing Belt ..................................................... 358
8.4 Joint #4 - Replacing the Electromagnetic Brake .................................. 364
9. Joint #5
9.1 Joint #5 - Replacing the Motor .............................................................. 366
9.2 Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6
9.3 Joint #5 - Replacing the Timing Belt ..................................................... 378
9.4 Joint #5 - Replacing the Electromagnetic Brake .................................. 379
10. Joint #6
10.1 Joint #6 - Replacing the Motor ............................................................ 382
10.2 Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5,
10.3 Joint #6 - Replacing the Timing Belt ................................................... 388
10.4 Joint #6 - Replacing the Electromagnetic Brake ................................ 389
11. Replacing the Battery Unit
11.1 Replacing the Battery Unit (Lithium Battery) ...................................... 393
11.2 Replacing the Battery Board ............................................................... 395
12. Replacing the Control Board
12.1 Replacing the Control Board 1 ........................................................... 399
12.2 Replacing the Control Board 2 ........................................................... 401
13. Replacing the LED Lamp
14. Replacing the M/C Cable
15. Replacing the Fan
16. Calibration
16.1 Overview ............................................................................................. 410
16.2 Calibration Procedure ......................................................................... 413
C Series Maintenance Manual Rev.2
Reduction Gear Unit Set) ...................................................................... 373
#6 Reduction Gear Unit Set) ................................................................. 388
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