Epson G6 series, Manipulator Manual, Page: 213 / 216

Maintenance 14. Maintenance Parts List
G6 Rev.21 201
*2 Regarding purchase of grease
Due to the chemicals regulations of individual countries (the UN GHS), we are requesting our customers to
purchase the grease required for maintenance from the manufacturers listed in the table below as of April
2015. Regarding purchase of the grease, please contact the following manufacturers. If there is anything
unclear, please contact our suppliers.
Product name Manufacturer URL
THK AFB-LF Grease THK CO., LTD. http://www.thk.com/
Harmonic Grease SK-1A Harmonic Drive Systems Inc. http://www.harmonicdrive.net/
Krytox®GPL-224 DuPont
http://www2.dupont.com/Our_Company/
en_US/worldwide/us_country.html
**
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.
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.
Flexspline
A thin, elastic, cup-shaped metal body with gear
teeth around the outer circumference of the
opening.
Circular spline Flexspline
Waveform generator
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.
The splines are greased. Be sure to keep the grease from being attaching to the clothes.