Maintenance 7. Joint #4 (Replacing the Reduction Gear Unit)
148 S5 Rev.5
Remove the bolts and then remove the
wrist from the Arm #3.
Hexagon socket head cap bolt : 4-M6×16 (with disc spring 2H-6)
Remove the bolts and then remove the pulley and washer from waveform generator.
GT-SA bolt : 3-M3×10
Remove the bolts and then remove the J
o
int #4 reduction gear unit using the removal
tap.
Hexagon socket head cap bolt : 16-M3×20 (with disc spring 2H-3)
emove the bearing from the housing.
emove the bearing from the waveform generator.
caked-on liquid gasket residue with a
Repair scratches incurred during
tap use with a
sharpening stone or similar tool.
Remove he flexspline cap from the flexspline.
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