Replacing Joint #1 Reduction Gear Unit - Epson LS3-401 series Manipulator 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
Nippers
Tools
Spatula
Wiping cloth
Screw (M4)
Grease (SK-1A)
Grease
Joint #1 (1) Remove the Joint #1 motor unit.
Reduction
Gear Unit
Removal
(2) Remove the reduction gear unit from the
Joint #1
(1) A new reduction gear unit contains the
Reduction
Gear Unit
Installation
LS Rev.10
Name
SHF20-50
SHF25-80
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
Follow the removal steps in Maintenance: 5.1 Replacing Joint #1 Motor.
Joint #1 flange.
parts shown in the picture on the right
when it is unpacked.
The gear grooves of the flexspline,
circular spline, and the bearings of the
waveform generator have been greased.
Wipe off excess grease from the
mounting surface.
Maintenance 5. Arm #1
Quantity Note
LS3-401*: R13B010039
1
LS6-602*: R13B010041
1 For M4 set screw
1 For M3 screw
1 For M4 screw
1
1
1 For apply grease
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
About 20 mm in length
2
For flexspline removal
- -
LS3: 16-M3×20
LS6: 16-M4×25
Flexspline and
Cross roller bearing unit
O-ring
Circular spline
Waveform generator
Reduction
Gear Unit
Flange
95