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5Maintenance and Inspection
Maintenance and inspection procedures
5-43
Fig 5-2 ： Outline structure of robot arm
Upper arm
Elbow
Fore arm
<12>J6 axis motor
<13>J6 axis
reduction gear
Wrist housing
<10>J5 axis timing belt
Shoulder
<9>J5 axis motor
<8>J6 axis
reduction gear
<7>J4 axis motor
<5>J3 axis motor
<6>J3 axis
reduction gear
<2>J1 axis
reduction gear
<3>J2 axis motor
<11>J5 axis
reduction gear
<4>J2 axis
reduction gear
<1>J1 axis motor