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5.2 Joint #1 - Replacing the Reduction Gear Unit
The shapes and replacement procedures of the reduction gear units vary depending on the specification type.
The reduction gear units have the following two specification types which differ depending on the time of
shipment.
Before performing maintenance, confirm the specification type of the reduction gear unit.
Specification type (1)
A reduction gear unit consists of the following parts and accessories. When replacing the reduction gear unit,
be sure to replace these parts and accessories all together as a set.
Reduction gear unit : Wave generator, Flexspline, Circular spline
Accessory
For details, refer to C4 Maintenance: 17. C4 Maintenance Parts List.
It is recommended to replace the O-ring when replacing the reduction gear unit.
Joint #1 reduction gear unit
Maintenance
Parts
Joint #1 O-ring
Hexagonal
wrench
Cross-point screwdriver
Tools
Torque Wrench
Spatula
Force gauge
Wiping cloth
C Series Maintenance Manual Rev.2
Specification type (2)
: Spacer, Grip ring (only for Specification type 1)
Name
width across flats: 2.5 mm
width across flats: 3 mm
width across flats: 5 mm
C4 Maintenance 5. Joint #1
Quantity
1
1687022
1
1480857
1
For M5 hexagon socket head set screws
1
For M4 hexagon socket headcap bolts
1
For M6 hexagon socket headcap bolts
1
For covers
1
1
For greasing
1
For belt tension adjustment
For wiping grease
2
Note
63
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