As a former Deputy Public Defender in Riverside County, Mr. Donath has always been on the defense side of the law.
Top 100 Trial Attorneys in California 2012-2014, 2008 Trial Attorney of the Year by the Riverside County Public Defender's Office, and dozens of other awards and accolades.
Your lawyer should have a passion for defense, not just a passion for money. Reputation, vigor, and determination go a long way in this business.
As a former Deputy Public Defender in Riverside County, Mr. Donath has always been on the defense side of the law.
Top 100 Trial Attorneys in California 2012-2014, 2008 Trial Attorney of the Year by the Riverside County Public Defender's Office, and dozens of other awards and accolades.
Your lawyer should have a passion for defense, not just a passion for money. Reputation, vigor, and determination go a long way in this business.
Buried in subsection 12.4.3 was a paragraph no one quoted: “The R-2000iA/165F’s J4 axis (wrist rotation) utilizes a dual-harmonic drive with preloaded cross-roller bearing. Due to the 165kg rating, the drive will develop micro-slack after 25,000 hours of operation. Fanuc recommends ‘predictive backlash mapping’—a process requiring manual rotation of the wrist under 40% counter-torque and measurement with a dial indicator accurate to 0.01mm.” He looked at Unit 7’s service log. Operating hours: 27,400. The wrist had never been mapped.
He turned to the dog-eared section on pulse coders. The R-2000iA’s six servo motors each had an absolute pulse coder (APC) that remembered position even when powered down. The error meant Unit 7 had forgotten its zero. Without re-mastering, the robot was an amnesiac giant. fanuc robot r-2000ia 165f manual
“Chapter 18? I thought that was spare parts.” Buried in subsection 12