Epson ProSix S5 Series Manual page 148

Maintenance 6. Joint #3 (Replacing the Reduction Gear Unit)
(4) From the waveform generator, remove the housing.
(5) From the housing, remove the bearing.
(6) From the waveform generator, remove the bearing.
(7) Remove the circular spline from the Arm #2.
(8) Remove the housing from the Arm #2.
NOTE
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134
Hexagon socket head cap bolt: 6-M4×12
GT-SA bolt: 6-M4×10
When the housing is removed, the Arm #1 and Arm #2 are detached. Make sure to
hold the Arm #2 while removing the housing.
S5 Rev.5