Maintenance 6. Joint #3 (Replacing the Reduction Gear Unit)
134 S5 Rev.5
From the waveform generator, r
emove the housing.
From the housing, remove the bearing.
From the waveform generator, remove the bearing.
spline from the Arm #2.
Hexagon socket head cap bolt: 6-M4×12
Remove the housing from the Arm #2.
GT-SA bolt: 6-M4×10
When the housing is removed, the Arm #1 and Arm #2 are detached. Make sure to
hold the Arm #2 while removing the housing.
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