Epson G6 series, Руководство манипулятора, Страница: 149 / 216

Maintenance 6. Arm #2
G6 Rev.21 137
Joint #2
reduction gear
unit
Installation (1) A new reduction gear unit contains the parts
shown in the picture on the right when it is
unpacked.
Apply grease (SK-1A) to the waveform
generator and flexspline so that the gear surface
is filled with grease.
(2) Set the hole on the circular spline and the tap
hole on the base.
Loosely secure all bolts in a crisscross pattern so
that the bolts will be secured evenly. Then, using
a torque wrench, tighten each bolt securely in a
crisscross pattern at the torque specified in the
table below.
16-M3 × 15
Circular spline
Item Bolt type Number of bolts Tightening torque
Joint #2 reduction gear unit
M3 × 15 16 3.0 N ⋅ m (30.5 kgf ⋅ cm)
M5 × 15 8 12.0 N ⋅ m (122.3 kgf ⋅ cm)
(3) Set the grip ring by aligning it with the tap hole.
Set the flexspline by aligning it with the tap hole.
Align the tap hole and mount the flexspline.
Align the position of the air vent of the spacer.
If it is difficult to align the position, move Arm
#2 from side to side.
8-M5 × 15
Flexspline
Spacer
Grip ring
(4) Apply grease (SK-1A) inside the flexspline.
Grease volume 15 g
(5) Apply grease (SK-1A) to the bearing part of the waveform generator.
(6) Execute steps from (2) to (9) in Maintenance: 6.1 Replacing Joint #2 Motor.