Epson SCARA ROBOT Manipulator Manual page 149

(1) A new reduction gear unit contains the parts
Joint #2
reduction gear
unit
Installation
(2) Set the hole on the circular spline and the tap
(3) Set the grip ring by aligning it with the tap hole.
(4) Apply grease (SK-1A) inside the flexspline.
(5) Apply grease (SK-1A) to the bearing part of the waveform generator.
(6) Execute steps from (2) to (9) in Maintenance: 6.1 Replacing Joint #2 Motor.
G6 Rev.21
shown in the picture on the right when it is
unpacked.
Apply grease (SK-1A) to the waveform
generator and flexspline so that the gear surface
is filled with grease.
hole on the base.
Loosely secure all bolts in a crisscross pattern so
that the bolts will be secured evenly. Then, using
a torque wrench, tighten each bolt securely in a
crisscross pattern at the torque specified in the
table below.
Item
Joint #2 reduction gear unit
Set the flexspline by aligning it with the tap hole.
Align the tap hole and mount the flexspline.
Align the position of the air vent of the spacer.
If it is difficult to align the position, move Arm
#2 from side to side.
Grease volume 15 g
Bolt type Number of bolts
M3×15 16
M5×15 8
Maintenance 6. Arm #2
16-M3×15
Circular spline
Tightening torque
3.0 N⋅m (30.5 kgf⋅cm)
12.0 N⋅m (122.3 kgf⋅cm)
Spacer
8-M5×15
Flexspline
Grip ring
137