Epson C8 Series Manipulator Manual page 260

Maintenance 7. Joint #3
5. Remove the wave generator from the reduction gear unit.
If the wave generator unit does not come off easily, set the pulley
2 as shown in the photo to the shaft and pull out the parts.
Wipe grease on the wave generator while removing it.
6. Remove the reduction gear unit from the Arm #3.
Hexagon socket head cap bolts: 12-M4×30
Wipe grease on the reduction gear unit while removing it.
7. Remove the O-ring from the groove on the Arm #3.
Wipe grease on the O-ring while removing it.
246 C8 Rev.13