Replacing The Reduction Gear Units - Epson ES Series Manipulator Manual

Part 2: Maintenance

6. Replacing the Reduction Gear Units

WARNING
CAUTION
NOTE
NOTE
NOTE
NOTE
Types of reduction gear units
Reduction gear
Only trained personnel should be allowed to maintain this unit.
When replacing the reduction gear units, make sure the power is turned OFF
and pull out the power plug from the power source. Failure to turn OFF the
power can result in electric shock or malfunction.
Be careful not to apply an excessive shock to the motor shaft when replacing a
reduction gear unit. This may shorten the life of the motor and encoder. This
also may destroy them.
When replacing the reduction gear unit, be sure to always replace the waveform generator,
fleck spline, and circular spline all together as one set.
To grease the reduction gear unit, use SK-1A (Harmonic Drive Systems) exclusively. Do
not mix with the grease for the ball screw spline (refer to the maintenance parts list at the
end of this manual). For the adequate quantity of grease necessary for each manipulator
series, refer to the table below as an approximate aid.
Series
ES
EL
When replacing the Joint #2 reduction gear unit, prepare the liquid gasket. (Refer to the
maintenance parts list at the end of this manual.)
The mechanical origin position and teach points change when the motor or reduction gear
unit is replaced. Whenever the reduction gear unit is replaced, be sure to calibrate the joint.
(Refer to chapter 11. Calibration.)
The types of reduction gear units used in the ES / EL series manipulators are listed below.
Specify the manipulator series and relevant joint when ordering a reduction gear unit for
replacement.
Description Series
ES
unit
EL
6. Replacing the Reduction Gear Units
Joint #1
approx. 40g
approx. 80g
Joint Specification
#1 SHF-25-80
#2 SHF-20-50
#1 SHF-32-100
#2 SHF-25-80
Joint #2
approx. 16g
approx. 40g
Old code New code
ZA001007 R13ZA00100700
ZA001008 R13ZA00100800
ZA001006 R13ZA00100600
ZA001007 R13ZA00100700
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