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9.2 Joint #5 - Replacing the Reduction Gear Unit
A reduction gear unit consists of the waveform generator, flexspline, and circular spline. When replacing the
reduction gear unit, be sure to replace these parts all together as a set.
For details, refer to C4 Maintenance: 17. Maintenance Parts List.
Maintenance
Joint #5 reduction gear unit
Parts
Hexagonal
wrench
Tools
Cross-point screwdriver
Wrench
Force gauge
Removal: Joint #5 Reduction gear unit
1. Turn OFF the Controller power.
2. Remove the Arm #4 side cover.
For details, refer to C4 Maintenance: 3. Covers.
3. Loosen the set screws of the Joint #5 motor unit and remove the
Joint #5 timing belt (6×315 mm).
Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)
4. Loosen the set screws of the Joint #6 motor unit and remove the
Joint #6 timing belt (6×324 mm).
Hexagon socket head cap bolts: 2-M4×15 (with a plain washer)
C Series Maintenance Manual Rev.2
Name
width across flats: 1.5 mm
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
width 7
width 8
C4 Maintenance 9. Joint #5
Quantity
1
1539260
For M3 hexagon socket set screws
1
For M2 hexagon socket head cap bolts
1
For M2.5 hexagon socket head cap bolts
1
For M3 hexagon socket head cap bolts
1
For M4 hexagon socket head cap bolts
1
For covers
1
1
1
For belt tension adjustment
Note
123
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