4.2.2.4 Recommended posture in disassembling the integrated driving module

In replacing the integrated driving module, setting the axis at the following posture will facilitate the disassembling work.

For example, in replacing the module of the H-axis of YL012, the disassembling work will be easier if the robot’s posture is set at angles of 95°, 65°, or 35°, which are the angles at which the angular interval (30°) is added or subtracted from the reference angle (95°).

Model	angle	S	H	V	R2	B	R1
YL005	Reference angle	Not applicable	Not applicable	-30	30	-15	Not applicable
	Angular gap	Not applicable	Not applicable	30	30	30	Not applicable
YL012	Reference angle	-40	95	-140	108.5	63.5	Not applicable
	Angular gap	30	30	30	30	30	Not applicable
YL015	Reference angle	-40	95	130	-161	86	Not applicable
	Angulargap	30	30	30	30	30	Not applicable

[Caution]: If the robot cannot be driven, carry out the primary disassembling of the module, then rotate the module using the brake release module. Carry out the rest of the disassembling.