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RS3 RS4 Maintenance 5. Joint #1
5.2 Replacing Joint #1 Reduction Gear Unit
Maintenance
Reduction Gear Unit
Parts
Hexagonal
wrench
Torque
wrench
Nippers
Tools
Spatula
Force gauge
Suitable cord (Length about 800 mm)
Wiping cloth
Wire tie
Material
Grease (SK-1A)
Grease
When tightening hexagon socket head cap bolts, refer to the 2.4 Tightening Hexagon Socket
NOTE
Head Cap Bolts.
■ When removing the Manipulator from the base table, the Manipulator with two or
more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or
feet caught and/or have equipment damaged by a fall of the Manipulator.
RS3-351* : approx. 17 kg: 38 lb.
RS4-551* : approx. 19 kg: 42 lb.
WARNING
■ When removing the Manipulator from the base table, support the Manipulator,
and then remove the anchor bolts. Removing the anchor bolts without
supporting is extremely hazardous and may result in fall of the Manipulator.
Joint #1
(1) Remove the Manipulator from the base table.
reduction gear
unit
(2) Remove the Joint #1 motor unit.
Removal
(3) Remove the air tube, D-sub cable, ground wire on the J1 cable plate. Cut off the wire
44
Name
width across flats: 1.5 mm
width across flats: 3 mm
width across flats: 5 mm
M4
M6
To remove the Manipulator, please observe the WARNING above.
Execute the removal steps from (1) to (5) in 5.1 Replacing Joint #1 Motor.
tie.
Quantity
1514470 (RS3-351*)
1
1547165 (RS4-551*)
For M2 screw
1
For M4 screw
1
For M6 screw
1
1
1
1
For applying grease
1
Belt tension 150 N (15.3 kgf)
1
For belt tension
1
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
4
40 g
RS series Maintenance Rev.3
Note
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