Epson G Series Maintenance Manual page 282

G6 Maintenance 5. Joint #1
Joint #1 (1) A new reduction gear unit contains the parts shown
reduction gear
unit
Installation
(2) Set the hole on the circular spline and the tap hole
(3) Set the grip ring by aligning it with the tap hole.
(4) Apply grease (SK-1A) inside the flexspline.
(5) Apply grease (SK-1A) to the bearing part of the waveform generator.
(6) Execute steps from (2) to (3) in 5.1 Replacing Joint #1 Motor.
(7) Turn and secure the Manipulator to the mounting position.
(8) Execute steps from (4) to (7) in 5.1 Replacing Joint #1 Motor.
264
in the picture on the right when it is unpacked.
Apply grease (SK-1A) to the waveform generator
and flexspline so that the gear surface is filled with
grease.
on the base.
Loosely secure all bolts in a crisscross pattern so
that the bolts will be secured evenly. Then, using
a torque wrench, tighten each bolt securely in a
crisscross pattern at the torque specified in the
table below.
Item
Joint #1 reduction gear unit
Set the flexspline by aligning it with the tap hole.
Align the position of the air vent of the spacer.
Grease volume 27 g
Bolt type Number of bolts
M4×20 16
M6×15 8
16-M4×20
Circular
spline
Tightening torque
6.0 N⋅m (61.2 kgf⋅cm)
22.0 N⋅m (224.3 kgf⋅cm)
8-M6×15
Spacer
Flexspline
Grip ring
G series Maintenance Rev.3