Exercise all necessary precautions for dealing with high voltage. Power down and lock out energy source. Use a matching drive system, the newest is 09 I think and older is 04 or 05. Put the robot at the zero position if you can so that you can update rev counters when finished, if necessary. Should not have to reinstall anything if done right. It might want to update the firmware, but the main computer will figure that out.
It is really easy, once you have the same module ( part number ). The maximun you need to do is update rev.counter, just in case it lost.
MDU replacement has nothing to do with revolution counter. Don't worry about loosing the counter value.
