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Maintenance 5. Arm #1
5.2 Replacing Joint #1 Reduction Gear Unit
A reduction gear unit consists of the following three parts and two attached parts. At
replacing the reduction gear unit, be sure to always replace them all together as one set.
Reduction gear unit : Waveform generator, Flexspline, Circular spline
Attachment
For details of the reduction gear unit, refer to Maintenance: 15. Maintenance parts list.
Maintenance
Reduction Gear Unit
Parts
Hexagonal wrench
Torque wrench
Tools
Nippers
Spatula
Wiping cloth
Screw (M5)
ROCTITE 241
Materials
Grease (SK-1A)
Grease
142
: Spacer, Grip ring
Name
width across flats: 2.5 mm
width across flats: 4 mm
width across flats: 6 mm
M5
M8
Quantity
Note
1
R13B010013
1
For M5 set screw
1
For M5 screw
1
For M8 screw
Tightening torque
1
10.0 N⋅m (101.9 kgf⋅cm)
Tightening torque
1
30.0 N⋅cm (305.9 kgf⋅cm)
1
1
For applying grease
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
About 20mm in length
2
For removing flexspline
Proper
For locking screw
quantity
71 g
G10 / G20 Rev.20
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