Maintenance 6. Joint #3 (Replacing the Reduction Gear Unit)
S5 Rev.5 133
6.2.2 Replacing the Reduction Gear Unit
WARNING
■
use at least two people when removing the motor unit. Remove the
motor unit while one person
is supporting the upper structure (Arms #3 to #
upper structure folds inward at Joint #3 as soon as the motor unit is removed
released. Failure to properly support the upper structure may
rious bodily injury and/or severe equipment damage.
replacing the reduction gear unit, the bearings should be replaced together.
Maintenance
Parts
Reduction gear unit 1
Grease for reduction gear
Bearing
1 6913DDU R13B030808
ing the upper structure (Arms #3 to #
6) to the stop side before the
replacement.
emove the Joint #3 motor unit from the Manipulator.
Maintenance 6.1 Replacing the Joint #3 Motor.
Joint #3 output pulley / Waveform generator / Housing / Bearing
GT-SA bolt: 4-M4×10
As shown in the picture, use a removal tap to remove.
From the waveform generator, remove the Joint #3 output pulley.
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