viii
Allowable Load for Wrist Axis and Wrist Flange
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
System Application
Peripheral Equipment Mounts
. . . . . . . . . . . . . . . . . . . . . . 7-1
Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Installation Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Internal User I/O Wiring Harness and Air Line
. . . . . . 7-2
Electrical Equipment Specification
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Maintenance and Inspection
(Manipulator in the Home Position: Refer to “Fig.21.”) . . . . . . . . . . 9-1
Notes on Maintenance Procedures
. . . . . . . . . . . . . . . . . 9-5
Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Grease Replenishment/Exchange for S-axis Speed Reducer . 9-7
Grease Replenishment (Refer to "Fig. 24 S-axis
Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Grease Exchange
(Refer to "Fig. 24 S-axis Speed Reducer Diagram".) . . . . . 9-8
Grease Replenishment/Exchange for L-axis Speed Reducer . 9-9
Grease Replenishment
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . . 9-9
Grease Exchange
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . 9-10
Grease Replenishment/Exchange for U-axis Speed Reducer 9-11
Grease Replenishment
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-11
Grease Exchange
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-12
Grease Replenishment for R-axis Speed Reducer. . . . . . . . . 9-13
Grease Replenishment for B-, T-axes Speed
Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
Grease Replenishment for T-axis Gear . . . . . . . . . . . . . . . . . 9-15
Grease Replenishment for R-axis Cross Roller Bearing. . . . . 9-16
Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
