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Removal: Joint #3 Reduction gear unit
1. Remove the Joint #3 timing belt.
For details, refer to Maintenance 7.3 Joint #3 - Replacing the
Timing Belt, Removal steps (1) to (3).
2. Remove the Arm #2 side arm fixing bolts.
Hexagon socket head cap bolts: 6-M5×20 (with a plain washer)
3. Remove the Joint #3 pulley 2 from the Joint #3 shaft.
Hexagon socket set screws
C8, C8L: 2-M5×10
C8XL: 2-M5×12
There is a brass bushing on one of the set screws.
Be careful not to lose it.
4. Remove the Arm #3.
Hexagon socket head cap bolts: 16-M4×25 (with a plain washer)
Remove a wave washer on the Arm #1 side.
The wave washer will be used again. Be careful not to lose it.
Wipe grease on the parts while removing them.
■ By removing the bolts, the Arm #2 side arm, the Arm #3, #4, #5, and #6(end effector)
can be separated. There is a possibility of hands and fingers being caught and/or
damage or malfunction to the Manipulator. Be very careful when removing the arm.
Have at least two workers so that one can support the Manipulator while the other
worker is removing the bolts.
CAUTION
■ The Arms are connected by the internal cables. When replacing the parts, place
the removed arm while not applying load on the cables.
disconnection.
C8 Rev.13
Maintenance 7. Joint #3
It may result in cable
245
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