Joint #3 - Replacing The Reduction Gear Unit; Removal: Joint #3 Reduction Gear Unit - Epson C Series Maintenance Manual

6-axis robots

Hide thumbs Also See for C Series:

Table of Contents

C4 Maintenance 7. Joint #3

7.2 Joint #3 - Replacing the Reduction Gear Unit

A reduction gear unit consists of the following three parts.

accessories. When replacing the reduction gear unit, be sure to replace these parts all together as a set.

Reduction gear unit: Wave generator, Flexspline (CRB combined), Circular spline

Accessory: O-ring × 2

For details, refer to C4 Maintenance: 17. C4 Maintenance Parts List.

It is recommended replacing the O-rings (for Joint #3) when replacing the reduction gear unit.

Joint #3 reduction gear unit

Joint #3 O-ring

Cross-point screwdriver

Torque wrench

Wiping cloth

1. Remove the following parts.

Arm #2 side cover

Arm #3 head cover

Arm #4 side cover

When removing the user plate, remove the following parts from the plate.

D-sub 9-pin connector

For details, refer to C4 Maintenance: 3. Covers.

2. Remove the Joint #3 timing belt.

For details, refer to C4 Maintenance: 7.3 Joint #3 –

Replacing the Motor, Removal steps (1) through (3).

3. Remove the cable unit.

For details, refer to C4 Maintenance: 4.1 Replacing the Cable Unit, steps (9) through (21).

width across flats: 2 mm

width across flats: 2.5 mm

width across flats: 3 mm

Also, two additional parts are included as

For M4 hexagon socket set screws

For M3 hexagon socket head cap bolts

For M4 hexagon socket head cap bolts

For applying grease

For belt tension adjustment

For wiping grease

C Series Maintenance Manual Rev.2