Epson SCARA ROBOT User Manual

Maintenance 6. Arm #2
G6 Rev.21 135
6.2 Replacing Joint #2 Reduction Gear Unit
A reduction gear unit consists of the following three parts and two attached parts. At
replacing the reduction gear unit, be sure to always replace them all together as one set.
Reduction gear unit : Waveform generator, Flexspline, Circular spline
Attachment : Spacer, Grip ring
For details of the reduction gear unit, refer to Maintenance: 14. Maintenance parts list.
Name
Quantity
Note
Maintenance
parts
Reduction Gear Unit 1 R13B010012
Tools
Hexagonal wrench
width across flats: 2 mm
1
width across flats: 2.5 mm
1
For M3 screw
width across flats: 3 mm
1
width across flats: 4 mm
1
For M5 screw
Torque wrench
M3 1
Tightening torque 3.0 N⋅m
(30.5 kgf⋅cm)
M5 1
Tightening torque 12.0 N⋅m
(122.3 kgf⋅cm)
Nippers
1
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-1A)
21 g

Epson SCARA ROBOT Specifications

General

Type	SCARA Robot
Applications	Assembly, Pick and Place, Dispensing, Packaging
Mounting	Floor, Wall, Ceiling
Communication Interface	Ethernet, RS-232, USB
Repeatability	±0.01 mm to ±0.02 mm