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(2) Lubrication method ................................................................................................................................................... 5-50
5.3.5 Replacing the backup battery ................................................................................................................................... 5-51
(1) Replacing the robot arm battery ......................................................................................................................... 5-51
5.4 Maintenance parts ................................................................................................................................................................. 5-52
5.5 Resetting the origin .............................................................................................................................................................. 5-53
5.5.1 Jig method ........................................................................................................................................................................ 5-54
(1) J1 axis origin setting ................................................................................................................................................ 5-55
(2) J2 axis origin setting ................................................................................................................................................ 5-56
(3) J3 axis origin setting ................................................................................................................................................ 5-57
(4) J4 axis origin setting ................................................................................................................................................ 5-58
(5) J5 axis origin setting ................................................................................................................................................ 5-59
(6) J6 axis origin setting ................................................................................................................................................ 5-60
5.5.2 User origin method ........................................................................................................................................................ 5-61
5.5.3 ABS origin method ........................................................................................................................................................ 5-63
5.5.4 Recording the origin data ........................................................................................................................................... 5-65
(1) Confirming the origin data label ........................................................................................................................... 5-65
(2) Confirming the origin data ..................................................................................................................................... 5-65
(3) Recording the origin data ....................................................................................................................................... 5-65
(4) Installing the cover ................................................................................................................................................... 5-65
6Appendix ...............................................................................................................................................................................Appendix-66
Appendix 1 ： Configuration flag ............................................................................................................................ Appendix-66