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6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 YElectrical Equipment Specification................................................................................................ 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.1.1 Specification of Limit Switch ................................................................................. 8-1
8.1.2 Location of Limit Switch ........................................................................................ 8-1
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Grease Replenishment/Exchange Procedures.................................................................. 9-7
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-7
9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 9-8
9.3.2.1 Grease Replenishment............................................................................ 9-8
9.3.2.2 Grease Exchange.................................................................................... 9-9
9.3.3 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-10
9.3.3.1 Grease Replenishment.......................................................................... 9-10
9.3.3.2 Grease Exchange.................................................................................. 9-11
9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer............................ 9-12
9.3.4.1 Grease Replenishment.......................................................................... 9-12
9.3.4.2 Grease Exchange.................................................................................. 9-13
9.3.5.1 Grease Replenishment.......................................................................... 9-14
9.3.5.2 Grease Exchange.................................................................................. 9-15
9.3.6.1 Grease Replenishment.......................................................................... 9-16
9.3.6.2 Grease Exchange.................................................................................. 9-17
9.3.7 Notes for Maintenance........................................................................................ 9-18
9.3.7.1 Battery Pack Connection ....................................................................... 9-18
10
Recommended Spare Parts....................................................................................................... 10-1
11
Parts List .................................................................................................................................... 11-1
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