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(7) Mount the waveform generator to the Joint
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(8) For the prevention of grease leakage, put
(9) Mount Arm #1 on the Joint #2 reduction
(10) Apply grease (SK-2: Green) inside the flexspline.
E2C Rev.6
Maintenance 6. Replacing the Reduction Gear Units (Joint #2)
#2 motor.
Be sure to fit the end face of the waveform
generator to the end face of the motor shaft.
Tighten one of the setscrews on the flat
face of the motor shaft until the screw just
touches the surface. Insert a bushing into
the other setscrew hole to prevent damage
to the motor shaft.
setscrews.
an O-ring on the joint area between Arm #1
and the Joint #2 reduction gear unit.
To do so, install an O-ring in the groove of
the clamp face on the Arm #1 side as
shown in the figure on the right.
gear unit.
Loosely fasten all bolts in a crisscross
pattern so that the bolts will be fastened
evenly.
Then, using a torque wrench,
tighten each bolt securely in a crisscross
pattern at the proper torque.
Tightening torque: 294 N⋅cm (30 kgf⋅cm)
For details on the grease quantity, refer to Maintenance: 6.4 Greasing the Reduction
Gear Units. (The grease for the Joint #2 reduction gear unit is different from that
for the Joint #1 reduction gear unit.)
M4×6
(Flat side)
Flat
Then, tighten both
Place for an O-ring
Reduction gear unit
8-M3×35 with plain washer
End face of
End face of
motor shaft
waveform generator
Waveform
generator
Bushing
M4×6
(Round
chamfer side)
Motor flange
Arm #1
143
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