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5.2 Joint #1 - Replacing the Reduction Gear Unit ........................................ 63
5.3 Joint #1 - Replacing the Timing Belt ...................................................... 71
5.4 Joint #1 - Replacing the Electromagnetic Brake .................................... 72
6.1 Joint #2 - Replacing the Motor ............................................................... 74
6.2 Joint #2- Replacing the Reduction Gear Unit ......................................... 79
6.3 Joint #2 - Replacing the Timing Belt ...................................................... 87
6.4 Joint #2 - Replacing the Electromagnetic Brake .................................... 88
7.1 Joint #3 - Replacing the Motor (with a Brake) ........................................ 90
7.2 Joint #3 - Replacing the Reduction Gear Unit ........................................ 94
7.3 Joint #3 - Replacing the Timing Belt .................................................... 102
8.1 Joint #4 - Replacing the Motor ............................................................. 104
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Removal: Joint #1 Reduction gear unit .................................................. 64
Installation: Joint #1 Reduction gear unit ............................................... 67
Removal: Joint #1 Timing belt ................................................................ 71
Installation: Joint #1 Timing belt ............................................................. 71
Removal: Joint #1 Electromagnetic brake .............................................. 72
Installation: Joint #1 Electromagnetic brake ........................................... 72
Removal: Joint #2 Motor ......................................................................... 75
Installation: Joint #2 Motor ...................................................................... 77
Removal: Joint #2 Reduction gear unit .................................................. 80
Installation: Joint #2 Reduction gear unit ............................................... 83
Removal: Joint #2 Timing belt ................................................................ 87
Installation: Joint #2 Timing belt ............................................................. 87
Removal: Joint #2 Electromagnetic brake .............................................. 88
Installation: Joint #2 Electromagnetic brake ........................................... 88
Removal: Joint #3 Motor (with a brake).................................................. 90
Installation: Joint #3 Motor (with a brake)............................................... 92
Removal: Joint #3 Reduction gear unit .................................................. 94
Installation: Joint #3 Reduction gear unit ............................................... 98
Removal: Joint #3 Timing belt .............................................................. 102
Installation: Joint #3 Timing belt ........................................................... 102
Removal: Joint #4 Motor ....................................................................... 104
Installation: Joint #4 Motor .................................................................... 106
C Series Maintenance Manual Rev.2
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89
103
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