Maintenance 13. Maintenance Parts List
S5 Rev.5 197
*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
secur
ed to the cam, while the outer
ring is capable of flexible deformation through the ball bearings.
-s
haped 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.
*2 Battery for backing up motor encoder
The battery for backing up a motor encoder is only used for retaining the motor position data during
maintenance (cable replacement, etc.). It is not used for the Manipulator itself.
Even storing a battery consumes battery power. When three years have passed since you purchased a spare
battery, replace it with a new one or measure the battery voltage before using it.
13.2 Option
Part Name Code Note
Brake release unit
(with Cable, short connector)
1.5
R12B120806
Brake release unit
R12B120803 For Europe
R12B120804
For USA and Japan
2.4.2
PS Compatible Plate R12B031931
PS Installation Compatible Plate R12B031932
Mechanical stop for Arm #1, #2, #3 R12B031933
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