Epson C12 Series Manipulator Manual page 246

Maintenance 8. Joint #4
7. Remove the bolts fixing the J4 flange and the Joint #4 reduction gear
unit.
Hexagon socket head cap bolts: 16-M3×20
8. Remove the wave generator of the Joint #4 reduction gear unit
together with the J4 flange.
If the wave generator does not come off easily, insert a tool in a gap
between the J4 flange and the Arm and remove the wave generator
little by little.
Be careful not to damage the parts.
9. Remove the Joint #4 reduction gear unit.
Hexagon socket head cap bolts: 12-M3×28
10. Remove the J4 sleeve holder.
Then, remove the J4 sleeve.
Hexagon socket head cap bolts: 4-M3×6
The J4 sleeve is attached by gasket and may not be removed easily.
If the part cannot be removed, pull the sleeve while rotating it.
Handle the sleeve with care since it is thin and easy to deform.
232 C12 Rev.3