Maintenance 14. Maintenance Parts List
172 LS Rev.10
*1 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.
This waveform generator consists of an ellipsoidal cam with ball
bearings
on its outer circumference.
The inner ring of bearings is
ed to the cam, while the outer
ring is capable of flexible deformation through the ball bearings.
shaped metal body with gear teeth around the
outer circumference of the opening.
-shaped body with gear teeth on the inner
two more teeth than the flexspline does.
Splines are greased. Be careful not to let grease adhere to clothes.
*2 Regarding purchase of grease
Due to the chemicals regulations of individual countries (the UN GHS), we are requesting our customers to
purchase the grease required for maintenance from the manufacturers listed in the table below as of April
2015. Regarding purchase of the grease, please contact the following manufacturers. If there is anything
unclear, please contact our suppliers.
Harmonic Drive Systems Inc. http://www.harmonicdrive.net/
*3 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-[Motor On
Hours].
For details, refer to Maintenance 2.2 Overhaul (Parts Replacement).
*4 LS3 Bellows
Common with G3 series. The bellows for LS3-401C are provided in a unit of one piece. The upper and
lower bellows have the same shape. Two bellows are required for one unit.
*5 LS6 Bellows
The bellows for LS6-**2C are provided in a unit of two pieces. The shape varies between the upper and
lower bellows.
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