Replacing The Reduction Gear Unit; Replacing The Reduction Gear Unit (Gear): G10 - Epson G Series Maintenance Manual

G10 G20 Maintenance 8. Joint #4

8.4 Replacing the Reduction Gear Unit

The shape and the replacement procedure of the reduction gear unit for G10 series and G20
series are different.
Maintenance
Reduction Gear Unit
parts
Hexagonal
wrench
Tools
Nippers
Force gauge

8.4.1 Replacing the Reduction Gear Unit (Gear): G10

A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down
due to the weight of the end effector while the power to the Controller is OFF or while the
motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Reduction Gear (1) Refer to the removal steps (1) to (13) in 10.2.1
Unit
Removal: G10
(2) Secure the Z gear.
(3) Remove the reduction gear unit.
(4) Remove the bearing.
Reduction Gear (1) Mount a new bearing.
Unit
(2) Mount a new reduction gear unit.
Installation: G10
(3) Execute the installation steps (3) to (23) in 10.2.1 Replacing the Ball Screw Spline Unit:
434
Name
width across flats: 2.5 mm G10
width across flats: 3 mm
width across flats: 4 mm
Replacing the Ball Screw Spline Unit: G10 and
remove the U belt.
Before removing the reduction gear unit, secure the Z
gear with pressure on the Z gear.
G10.
Quantity
G10 1 1499535
G20 1 1493783
1 For M3 screw
1 For M4 screw
1 For M5 screw
1 For cutting wire tie
Belt tension
130N, 160N, 200N
1
(13.3 kgf, 16.3 kgf, 20.4 kgf)
M4×10
Reduction
gear unit
G series Maintenance Rev.3
Note
Bearing