Epson E2C Series, Manipulator Manual, Page: 137 / 208

Maintenance 6. Replacing the Reduction Gear Units
E2C Rev.6 125
6.3 Structure of Reduction Gear Unit
A reduction gear unit consists of the following three parts. When replacing the reduction
gear unit, be sure to always replace the waveform generator, flexspline, and circular spline
all together as one set.
( 1 ) Waveform generator
This waveform generator consists of an ellipsoidal cam with ball bearings on its outer
circumference.
The inner ring of bearings is secured to the cam, while the outer ring is capable of
flexible deformation through the ball bearings.
(2) Flexspline
A thin, elastic, cup-shaped metal body with
gear teeth around the outer circumference
of the opening.
(3) Circular spline
A rigid, ring-shaped body with gear teeth
on the inner circumference.
The circular spline has two more teeth than
the flexspline does.
Circular spline Flexspline
Waveform generator