Replacing The Reduction Gear Unit - Epson ProSix S5 Series Manual

5.2.2 Replacing the Reduction Gear Unit

■ Always use at least two people when removing the motor unit. Remove the
motor unit while one person is supporting the upper structure (Arms #2 to #6).
The upper structure folds inward at Joint #2 as soon as the motor unit is removed
and the brake is released. Failure to properly support the upper structure may
WARNING
result in serious bodily injury and/or severe equipment damage.
NOTE

Reduction gear unit
Grease for reduction gear
Maintenance
Liquid gasket
Parts
Bearing
Material
Wire tie
NOTE

Joint #2
(1) Connect the backup battery to the motors of Joint #2, #3, #4, #5, and #6.
Reduction Gear
(2) Remove the cables from inside the manipulator.
Unit
Removal
(3) Remove the Joint #2 motor unit from the manipulator.
(4) Remove the following:
NOTE

S5 Rev.5
Maintenance 5. Joint #2 (Replacing the Reduction Gear Unit)
When replacing the reduction gear unit, the bearings should be replaced together.
Name
- We recommend folding the upper structure (Arms #2 to #6) to the stop side before
the replacement.
- Structure of the reduction gear unit for the Joint #2 and Joint #3 are almost same.
The replacement procedure below uses pictures of Joint #3.
For details, refer to Maintenance: 9.1 Replacing the Cable Unit.
For details, refer to Maintenance: 5.1 Replacing the Joint #2 Motor.
Joint #2 output pulley
Waveform generator
Housing
Bearing
GT-SA bolt: 4-M4×10
As shown in the picture, use a removal tap to
remove.
Quantity
S5-A701**
1
S5-A901**
Proper quantity SK-1A
Proper quantity 1206C
1 6000ZZ
1 6916DDU
1 6913ZZ
-
Note
R13B010032
R13B010033
R13ZA00330100
R13B031201
R13B030805
R13B030806
R13B030807
117