Epson C12 Series Manipulator Manual page 247

11. Remove the bolts of the bearing holder on the pulley.
Hexagon socket head cap bolts: 3-M3×8 (with a plain washer)
12. Remove the pulley from the pulley spacer.
Hexagon socket set screws: 2-M4×4
13. Remove the pulley spacer from the wave generator.
Hexagon socket head cap bolts: 4-M3×8
C12 Rev.3
Maintenance 8. Joint #4
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