Epson E2C Series Manipulator Manual page 144

Maintenance 6. Replacing the Reduction Gear Units (Joint #1)
(10) Apply grease (SK-1A: Yellow) inside the flexspline.
■ When removing or installing the arm, there must be two or more people to work
on it so that at least one of them can support the arm while others are removing
the bolts. Removing the bolts without supporting may result in fall of the arm,
CAUTION
bodily injury, and/or malfunction of the robot system.
(11) Mount Arm #1 on the base.
(12) Connect the connectors X110 and X11.
(13) Install the base connector box.
(14) Install the Joint #1 cover.
(15) Connect the power cable and signal cable to the base connector box (outside).
(16) Perform the calibration of Joint #1.
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For details on the grease quantity, refer to Maintenance: 6.4 Greasing the Reduction
Gear Units. (The grease for the Joint #1 reduction gear unit is different from that
for the Joint #2 reduction gear unit.)
To do so, support the arm with two or more
people. Then, have another person secure
the mounting bolts for Arm #1.
Tightening torque: 294 N⋅cm (30 kgf⋅cm)
For details on the installation method, refer to Maintenance: 3.4 Base Connector
Box.
For details on the installation method, refer to Maintenance: 3.3 Joint #1 Cover.
For details on the calibration method, refer to Maintenance: 14. Calibration.
8-M3×35 with plain washer
E2C Rev.6