Replacing Joint #1 Reduction Gear Unit - Epson SCARA ROBOT Manipulator Manual

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: 14. Maintenance parts list.
Maintenance
Reduction Gear Unit
Parts
Hexagonal wrench
Torque wrench
Tools
Nippers
Spatula
Wiping cloth
Screw (M4)
Grease (SK-1A)
Grease
128
: Spacer, Grip ring
Name
width across flats: 2.5 mm
width across flats: 3 mm
width across flats: 4 mm
width across flats: 5 mm
M4
M6
Quantity
1 R13B010011
1
1 For M4 screw
1
1 For M6 screw
Tightening torque 6.0 N⋅m
1
Tightening torque 22.0 N⋅m
1
1
1 For apply grease
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
About 20mm in length
2
For flexspline removal
40 g
Note
(61.2 kgf⋅cm)
(224.3 kgf⋅cm)
G6 Rev.21