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(21) Disconnect the connectors connected to the
(22) Remove the Joint #4 actuator unit from the
NOTE
(23) Remove the J3 cable fixing plate fixed on
(24) Remove the encoder board 3 and the control
NOTE
N6 Rev.2
Joint #4 actuator unit.
Connectors: PW4, BR4
Arm #3.
Hexagon socket head cap bolts:
7-M4×15 (with plain washer)
Be sure to have at least 2 people to perform the operation since the parts being
heavy.
When removing it, make sure not to lose the positioning pin.
Also, be careful not to catch the cables on the Joint #4 actuator unit.
the Arm #3.
Hexagon socket head cap bolts: 2-M3×6
board 2.
Cross recessed binding head machine
screws: 6-M3×6
Be careful not to lose the removed board
Maintenance 4. Cable
199
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