Epson E2C Series Manipulator Manual page 140

Maintenance 6. Replacing the Reduction Gear Units (Joint #1)
(6) Remove the Joint #1 reduction gear unit
(7) Remove the Joint #1 motor unit from the
(8) Detach the oil seal from the Joint #1
(9) Remove the waveform generator from the
128
from the base.
To do so, unscrew the bolts from the
reduction gear flange.
reduction gear unit upward to remove it.
Joint #1 reduction gear unit.
To do so, unscrew the bolts from the motor
flange. Then, pull the motor unit upward
to remove it.
reduction gear, and then remove the
reduction gear flange.
Joint #1 motor.
There is a brass bushing in one of the
setscrew holes. Be careful not to lose it.
Reduction gear
flange
Then, pull the
Base
Bushing
M4×6
8-M4×12
3-M4×10
Motor flange
Reduction
gear unit
Oil seal
13-M3×15
Reduction
gear flange
M4×6
Waveform generator
E2C Rev.6