5.1.8. A1 Frame - Gear Box........................................................................

5-14

5.1.9. Wrist - Gear Box ...............................................................................

5-15

5.2. Battery Replacement ...........................................................................

5-16

5.2.1. Instructions for Battery Storage.........................................................

5-18

5.3. Internal Wiring......................................................................................

5-19

5.3.1. Wiring Connection Diagram..............................................................

5-20

6. Troubleshooting.............................................................................

6-1

6. Trobleshooting

6.1. Troubleshooting Procedure ...................................................................

6-2

6.2. Trouble Symptoms and Possible Causes..............................................

6-3

6.3. Diagnostics and Resolutions for Major Parts Failure .............................

6-4

6.3.1. Fulcrum Bearings................................................................................

6-4

6.3.2. Reduction Gear...................................................................................

6-5

6.3.3. Brakes ................................................................................................

6-7

6.3.4. Motor ..................................................................................................

6-8

6.3.5. Encoder ..............................................................................................

6-9

6.4. Motor Replacement .............................................................................

6-10

6.4.1. Necessary Tools and Parts ...............................................................

6-12

6.4.2. How to Replace Motor ......................................................................

6-13

6.5. Encoder Zero Setting...........................................................................

6-15

6.5.1. Zero Setting ......................................................................................

6-16

6.5.2. Encoder Reset..................................................................................

6-17

6.5.3. Confirming the Reset........................................................................

6-19

6.5.4. Encoder Calibration(Data input) and Selection.................................

6-20

7. Recommended Spare Parts........................................................

7-1

7. Recommended Spare Parts

8. Internal Wiring Diagram..............................................................

8-1

8. Internal Wiring Diagram

8.1. Manipulator Configuration......................................................................

8-2

8.2. Wiring Diagram......................................................................................

8-3

9. Decommissioning........................................................................

9-1

9. Decommissioning

iii