Epson G3 Series User Manual

Maintenance 5. Arm #1
G3 Rev.14 109
5.2 Replacing Joint #1 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 / Flexspline / Circular spline
For details of the reduction gear unit, refer to Maintenance: 14. Maintenance parts list.
Name
Quantity
Note
Maintenance
Parts
Reduction Gear Unit 1 R13B010016
Tools
Hexagonal wrench
width across flats: 2 mm
1
For M4 set screw
width across flats: 2.5 mm
1
For M3 screw
width across flats: 3 mm
1
For M4 screw
width across flats: 5 mm
1
For M6 screw
Torque wrench
M4
1 Tightening torque:
6.0 N⋅m (61.2 kgf⋅cm)
M6
1 Tightening torque:
22.0 N⋅ m (224.3 kgf⋅cm)
Nippers
1
Spatula
1
For apply grease
Wiping cloth
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
Screw (M4) 2
About 20 mm in length
For flexspline removal
Grease
Grease (SK-1A)
16 g
Joint #1
reduction gear
unit
Removal
(1)
Remove the Joint #1 motor unit.
Refer to the removal steps (1) to (7) in Maintenance: 5.1 Replacing Joint #1 Motor.
(2)
Remove the Reduction gear unit from the Joint
#1 flange.
16-M3×15
Flange
Reduction gear unit

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English