C4 Maintenance 17. C4 Maintenance Parts List
170 C Series Maintenance Manual Rev.2
17. C4 Maintenance Parts List
Reduction
gear unit *
Timing belt
Joint #1
Width 10 mm
5.3

Joint #2
6.3

Joint #3
Width 7 mm 7.3 
* Reduction Gear Unit: A reduction gear unit consists of the following three parts. When replacing the
reduction gear unit, be sure to replace these parts all together as a set.
The waveform generator consists of an ellipsoidal
cam and ball bearings on outer circumference.
The inner ring of the bearings is secured to the cam,
while the outer ring is capable of flexible
deformation through the ball bearings.
Circular spline
Flexspline
Waveform generator
A thin, elastic, cup-shaped metal body with gear
teeth around the outer circumference of the opening.
A rigid, ring-shaped body with gear teeth on the
inner circumference.
The circular spline has two more teeth than the
The splines are greased. Be sure to keep the grease from being attaching to the clothes.
** Overhaul
As a rough indication, perform the overhaul (parts replacement) before reaching 20,000 operation
hours of the Manipulator. The operation hours can be checked in [Controller Status Viewer]
dialog box - [Motor On Hours].
For details, refer to C4 Maintenance 2.2 Overhaul (Parts Replacement).
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