Epson C Series Maintenance Manual page 161

6. Remove the Joint #6 reduction gear unit from the Arm #5.
Use a wrench to move the through holes of the screws. Insert a
tool from the back side of the arm to push the reduction gear unit.
Hexagon socket head cap bolt: 6-M3×28
The parts are greased. Wipe grease on the parts while removing
them.
7. Remove the O-ring of the Arm #5.
8. Unplug the Arm #5 plug.
Set the screw to the plug and pull out.
Recommended screw length: M4×15 mm or longer
The parts are greased. Wipe grease on the parts while removing
them.
9. Remove the gear.
Remove the bearing. Set the open-end wrench to the nut on the
Joint #6 reduction gear unit. Insert the tool to the hole where the
plug was, and then turn the screw to remove.
Hexagon socket head cap bolt: 1-M3×8 (with a plain washer)
The parts are greased. Wipe grease on the parts while removing
them.
10. Remove the wave generator from the Arm #5.
The parts are greased. Wipe grease on the parts while removing
them.
C Series Maintenance Manual Rev.2
C4 Maintenance 10. Joint #6
Bearing
Nut
Bolt
O-ring
Gear
141