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5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-68
(1) Timing belt replacement period ......................................................................................................................... 5-68
(2) Inspection and maintenance of J1 axis timing belt ..................................................................................... 5-69
(3) Inspection and maintenance of J2 axis timing belt ..................................................................................... 5-70
(4) Inspection and maintenance of J3 axis timing belt ..................................................................................... 5-71
(5) Inspection and maintenance of J4 axis timing belt ..................................................................................... 5-72
(6) Timing belt tension ................................................................................................................................................... 5-74
5.3.4 Lubrication ........................................................................................................................................................................ 5-75
(1) Lubrication position and specifications ............................................................................................................ 5-75
(2) Lubrication method ................................................................................................................................................... 5-76
(3) Lubrication method to the J1, J2 axis ............................................................................................................. 5-76
(4) Lubrication method to the shaft ......................................................................................................................... 5-76
5.3.5 Replacing the backup battery ................................................................................................................................... 5-77
(1) Replacing the robot arm battery ......................................................................................................................... 5-78
5.4 About Overhaul ...................................................................................................................................................................... 5-79
5.5 Maintenance parts ................................................................................................................................................................. 5-80
5.6 Resetting the origin .............................................................................................................................................................. 5-81
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-82
(1) J1 axis origin setting(mechanical stopper) ..................................................................................................... 5-82
(2) J2 axis origin setting(mechanical stopper) ..................................................................................................... 5-84
(3) J3 and J4 axis origin setting (mechanical stopper) .................................................................................... 5-86
(4) All axis origin setting ................................................................................................................................................ 5-89
5.6.2 Jig method ........................................................................................................................................................................ 5-90
(1) J1 axis origin setting ................................................................................................................................................ 5-91
(2) J2 axis origin setting ................................................................................................................................................ 5-93
(3) J3 and J4 axis origin setting ................................................................................................................................ 5-94
(4) All axis origin setting ................................................................................................................................................ 5-95
5.6.3 ABS origin method ........................................................................................................................................................ 5-96
(1) Select the T/B ........................................................................................................................................................... 5-97
5.6.4 User origin method ........................................................................................................................................................ 5-98
5.6.5 Recording the origin data ........................................................................................................................................ 5-100
(1) Confirming the origin data label ........................................................................................................................ 5-100
(2) Confirming the origin data .................................................................................................................................. 5-100
(3) Recording the origin data .................................................................................................................................... 5-100
(4) Installing the cover ................................................................................................................................................ 5-100
6Appendix ............................................................................................................................................................................ Appendix-101
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-101
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