Maintenance 15. Maintenance Parts List
238 G10 / G20 Rev.20
Part Name Code Note
11.2
Battery Unit R13ZA00600300
Spare lithium battery *2
ER17330V (TOSHIBA)
For Motor flange of Joint #1
Ball Screw Spline : AFB *3
For purchasing the grease,
Reduction Gear Unit : SK-1A *3
*2 Common with E2C *3 Common with E2 series
*5 Regarding purchase of grease
Due to the chemicals regulations of individual countries (the UN GHS), we are requesting our customers
to purchase grease required for maintenance from the manufacturers listed in the table below as of April
2015. Regarding purchase of grease, please contact the following manufacturers. If there is anything
unclear, please contact our suppliers.
Harmonic Drive Systems Inc.
http://www.harmonicdrive.net/
Krytox®GPL-224 DuPont
http://www2.dupont.com/Our_Company
/en_US/worldwide/us_country.html
Reduction Gear Unit
A reduction gear unit consists of the following three parts (for Joint #1 and Joint #2).
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
This waveform generator consists of an
ellipsoidal cam with ball bearings
ner ring of bearings is secured to the
cam, while the outer ring is capable of
flexible deformation through the ball
bearings.
Flexspline
A thin, elastic, cup
gear teeth around the outer
Circular spline
A rigid, ring
-shaped body with gear teeth on the inner circumference.
two more teeth than the flexspline does.
The splines are greased. Be sure to keep the grease from being attaching to the clothes.
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