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(7) Mount the waveform generator to the Joint
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(8) Mount the Joint #1 motor unit on the Joint
(9) Install the Joint #1 reduction gear unit on
E2C Rev.6
Maintenance 6. Replacing the Reduction Gear Units (Joint #1)
#1 motor.
Be sure to fit the end face of the waveform
generator to the end face of the motor
shaft. Tighten one of the setscrews on the
flat face of the motor shaft until the screw
just touches the surface. Insert a bushing
into the other setscrew hole to prevent
damage to the motor shaft. Then, tighten
both setscrews.
#1 reduction gear unit.
Make sure that the motor cables face
toward the round-shaped cut on the
reduction gear flange as shown in the
figure on the right.
the base.
The round-shaped cut on the reduction gear
flange must be in the position as shown in
the figure on the right.
Bushing
M4×6
(Round
chamfer side)
Waveform generator
End face of
End face of waveform
motor shaft
generator
Cables
3-M4×10
Round-shaped cut
Reduction gear
flange
Base
Reduction gear
flange
8-M4×12
Round-shaped cut
Flat
M4×6
(Flat side)
137
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