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5.5.2 Grease Reservoir
For assembly please ensure that the grease reservoir is filled up with grease (dimension c and ø d in illustration 40.2).
Table 40.1
Size
ø a
b
c*
c**
ø d
c* Horizontal and vertical – Wave Generator down
c** Vertical – Wave Generator up
See illustration 39.2
Illustration 40.2
5.5.3 Grease Change
To change the grease the component set should be completely disassembled and cleaned before regreasing. Fresh grease should
be applied generously to the inside of the Flexspline, the Wave Generator bearing, the Oldham coupling and the teeth of the
Circular Spline and Flexspline.
In illustration 40.3, the grease change interval depending on the grease temperature is given. The number of allowable
revolutions of the input shaft which represents the grease change interval can be estimated as shown in the example. This
means, that for a temperature of SK-1A or SK-2 grease of 40° C a change should take place after approx. 8.5 x 10
of the input shaft. All grease change data refers to rated speed and rated torque.
Illustration 40.3
1E+10
1E+10
1E+09
1E+09
SK1A, SK2
20
40
1E+08
1E+08
20
40
Grease temperature [°C]
40
14
17
38
45
6.5
7.5
1
1
3
3
16
26
Countersink for mounting bolt heads
Flexolub A1
4B No. 2
60
80
100
120
140
60
80
100
120
140
20
25
53
66
8
10
1.5
1.5
4.5
4.5
30
37
Equation 40.4
L
= Number of Wave Generator revolutions until grease change
GT
L
= see diagram
GTn
T
= Rated torque
r
T
= Average torque
av
32
40
86
106
13
16
2
2.5
6
7.5
37
45
revolutions
8
( )
T
3
.
r
L
= L
GT
GTn
T
av
1019659
50
133
19.5
3.5
7.5
45
11/2014
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