C4 Maintenance 6. Joint #2
C Series Maintenance Manual Rev.2 81
6. Remove the Arm #1 plate.
Hexagon socket head cap bolt: 6-M4×12
7. Turn the M
anipulator to the opposite side and remove the
pulley 2.
Hexagon socket set screws: 2-M5×10 (with a brass bushing)
There is a brass bushing in one of the set screws.
Be careful not to lose it.
8. Remove the screws securing the reduction gear unit.
Hexagon socket head cap bolts: 16-M4×30
By removing the screws, the Arm #2, #3, #4, #5, and #6 (end
effector) can be separated.
Have at least two workers so that one can support the
Manipulator while the other worker is removing the bolts.
Wipe grease on the parts while removing them.
9. Remove the wave generator from the reduction gear unit.
If the wave generator unit does not come off easily, set the
pulley 2 as shown in the photo to the shaft and pull out the
parts.
Remove the wave washer on the Arm #2 hole. The wave
washer will be used again. Be careful not to lose it.
Wipe grease on the parts while removing them.
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