Epson G3 Series User Manual

Maintenance 6. Arm #2
G3 Rev.14 117
6.2 Replacing Joint #2 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: 15. Maintenance parts list.
Name
Quantity
Note
Maintenance
parts
Reduction Gear Unit
1
R13B010017
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
Torque wrench (M3)
1 Tightening torque :
3.0 N⋅m (30.6 kgf ⋅cm)
Spatula
1
For apply grease
Wiping cloth
1
For wiping grease (Flange)
1
For wiping grease (Bolt)
Screw (M3)
2
For flexspline removal
Material
Wire tie
4
Grease
Grease (SK-2)
11 g
Joint #2
reduction gear
unit
Removal
(1)
Turn ON the Controller.
(2)
Push down the shaft to its lower limit while pressing the brake release switch. Be
sure to keep enough space and prevent the
end effector
hitting any peripheral
equipment.
The brake release switch affects only Joints #3. When the brake release switch is
pressed, the brake of the Joints #3 is released simultaneously.
Be careful of the
shaft while the brake release switch is being pressed because
the
shaft may be lowered by the
weight of an end effector.
(3)
Turn OFF the Controller.
(4)
Execute steps from (1) to (11) in
Maintenance: 6.1 Replacing Joint #2 Motor
and
remove the waveform generator from the Joint #2 motor.
(5)
Remove the mounting screws for the Arm #2
and remove the
reduction gear unit from the
Arm #1.
10-M3×20
8-M3×35
4-M3×20
O-ring
Arm #2
Reduction
gear unit
Arm #1

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English