Replacing Joint #1 Reduction Gear Unit - Epson G3 Series Manual

5.2 Replacing Joint #1 Reduction Gear Unit

A reduction gear unit consists of the following three parts. When replacing the reduction
gear unit, be sure to always replace the waveform generator, flexspline, and circular spline
all together as one set.
Waveform generator / Flexspline / Circular spline
For details of the reduction gear unit, refer to Maintenance: 14. Maintenance parts list.
Maintenance
Reduction Gear Unit
Parts
Hexagonal wrench
Torque wrench
Tools
Nippers
Spatula
Wiping cloth
Screw (M4)
Grease (SK-1A)
Grease
Joint #1 (1) Remove the Joint #1 motor unit.
reduction gear
unit
(2) Remove the Reduction gear unit from the Joint
Removal
G3 Rev.14
Name
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
width across flats: 5 mm
M4
M6
Refer to the removal steps (1) to (7) in Maintenance: 5.1 Replacing Joint #1 Motor.
#1 flange.
Maintenance 5. Arm #1
Quantity Note
1 R13B010016
1 For M4 set screw
1 For M3 screw
1 For M4 screw
1 For M6 screw
1 Tightening torque:
6.0 N⋅m (61.2 kgf⋅cm)
1 Tightening torque:
22.0 N⋅ m (224.3 kgf⋅cm)
1
1 For apply grease
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
About 20 mm in length
2
For flexspline removal
16 g
Flange
16-M3×15
Reduction gear unit
109