(12) Timing belt tension .............................................................................................................................................. 4-125

(13) Amount of movement of each axis during the timing belt tension measurement .................... 4-126

5.3.5 Replacing the bellows ................................................................................................................................................ 4-127

(1) RH-3FRH/6FRH/12FRH/20FRH series ....................................................................................................... 4-127

(2) RH-3FRHR series .................................................................................................................................................. 4-129

5.3.6 Lubrication ..................................................................................................................................................................... 4-130

(1) RH-3FRH/6FRH/12FRH/20FRH series ....................................................................................................... 4-130

(2) RH-3FRHR series .................................................................................................................................................. 4-134

5.3.7 Replacing the backup battery ................................................................................................................................ 4-136

(1) Replacing the battery of the robot arm ........................................................................................................ 4-137

5.4 About Overhaul ................................................................................................................................................................... 4-139

5.5 Maintenance parts .............................................................................................................................................................. 4-140

5.6 Resetting the origin ........................................................................................................................................................... 5-142

5.6.1 Setting the origin with the origin data input method ................................................................................... 5-143

(1) Confirming the origin data .................................................................................................................................. 5-143

(2) Selecting the origin setting method ................................................................................................................ 5-144

(3) Inputting the origin data ...................................................................................................................................... 5-145

(4) Installing the cover ................................................................................................................................................ 5-146

5.6.2 Jig method ..................................................................................................................................................................... 4-147

(1) J1 axis origin setting ............................................................................................................................................. 4-148

(2) J2 axis origin setting ............................................................................................................................................. 4-150

(3) J3 and J4 axis origin setting ............................................................................................................................. 4-152

5.6.3 ABS origin method ..................................................................................................................................................... 5-156

(1) RH-3FRH/6FRH/12FRH/20FRH series ....................................................................................................... 5-157

(2) RH-3FRHR series .................................................................................................................................................. 5-158

(3) Origin setting procedure ...................................................................................................................................... 5-159

5.6.4 User origin method ..................................................................................................................................................... 5-160

5.6.5 Recording the origin data ........................................................................................................................................ 5-162

(1) Confirming the origin data label ........................................................................................................................ 5-162

(2) Confirming the origin data .................................................................................................................................. 5-162

(3) Recording the origin data .................................................................................................................................... 5-162

(4) Installing the cover ................................................................................................................................................ 5-162

5.7 How to release the brake in an emergency ............................................................................................................. 5-163

6Appendix ............................................................................................................................................................................ Appendix-165

Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-165

CONTENTS

Page

iii

Table of Contents