Replacing Joint #2 Reduction Gear Unit - Epson G Series Maintenance Manual

6.2 Replacing Joint #2 Reduction Gear Unit

A reduction gear unit consists of the following three parts. When replacing the reduction
gear unit, be sure to always replace the waveform generator, flexspline, and circular spline
all together as one set.
Waveform generator / Flexspline / Circular spline
For details of the reduction gear unit, refer to 15. G3 Maintenance parts list.
Reduction Gear Unit
Hexagonal wrench
Maintenance
Torque wrench (M3)
parts
Spatula
Wiping cloth
Screw (M3)
Material Wire tie
Grease Grease (SK-2)
Joint #2 (1) Turn ON the Controller.
reduction gear
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
unit
Removal
(3) Turn OFF the Controller.
(4) Execute steps from (1) to (11) in 6.1 Replacing Joint #2 Motor and remove the
(5) Remove the mounting screws for the Arm #2 and
G series Maintenance Rev.3
Name
width across flats: 2 mm
width across flats: 2.5 mm
width across flats: 3 mm
to keep enough space and prevent the end effector hitting any peripheral equipment.
The brake release switch affects only Joints #3. When the brake release switch is
pressed, the brake of the Joints #3 is released simultaneously.
Be careful of the shaft while the brake release switch is being pressed because the shaft
may be lowered by the weight of an end effector.
waveform generator from the Joint #2 motor.
remove the reduction gear unit from the Arm #1.
G3 Maintenance 6. Joint #2
Quantity Note
1 1856070
1 For M4 set screw
1 For M3 screw
1
1 Tightening torque :
3.0 N⋅m (30.6 kgf ⋅cm)
1 For apply grease
1 For wiping grease (Flange)
1 For wiping grease (Bolt)
2 For flexspline removal
4
11 g
10-M3×18
Arm #2
Reduction
gear unit
O-ring
Arm #1
8-M3×35
4-M3×18
145