Table of Contents
iv
159281-1CD
HW1480357
HP20D
4 Grease Replenishment and Exchange ...........................................................................................4-1
4.1 Notes on Grease Replenishment and Exchange Procedures ...........................................4-1
4.2 Grease Replenishment and Exchange for S-Axis Speed Reducer.................................... 4-2
4.2.1 Grease Replenishment .........................................................................................4-2
4.2.2 Grease Exchange ................................................................................................. 4-3
4.3 Grease Replenishment and Exchange for L-Axis Speed Reducer.................................... 4-4
4.3.1 Grease Replenishment .........................................................................................4-4
4.3.2 Grease Exchange ................................................................................................. 4-5
4.4 Grease Replenishment and Exchange for U-Axis Speed Reducer ...................................4-6
4.4.1 Grease Replenishment .........................................................................................4-6
4.4.2 Grease Exchange ................................................................................................. 4-7
4.5 Grease Replenishment for R-Axis Speed Reducer ...........................................................4-8
4.6 Grease Replenishment for B- and T-Axis Speed Reducers .............................................. 4-9
4.7 Grease Replenishment for T-Axis Gear...........................................................................4-10
4.8 Grease Replenishment for R-Axis Cross Roller Bearing .................................................4-11
5 Disassembly and Reassembly of Motors........................................................................................ 5-1
5.1 Disassembly and Reassembly of S-Axis Motor ................................................................. 5-1
5.2 Disassembly and Reassembly of L-Axis Motor..................................................................5-4
5.3 Disassembly and Reassembly of U-Axis Motor .................................................................5-6
5.4 Disassembly and Reassembly of R-Axis Motor .................................................................5-8
5.5 Disassembly and Reassembly of B-Axis Motor ............................................................... 5-11
5.6 Disassembly and Reassembly of T-Axis Motor ............................................................... 5-13
6 Disassembly and Reassembly of Speed Reducer..........................................................................6-1
6.1 Disassembly and Reassembly of S-Axis Speed Reducer ................................................. 6-1
6.2 Disassembly and Reassembly of L-Axis Speed Reducer.................................................. 6-3
6.3 Disassembly and Reassembly of U-Axis Speed Reducer .................................................6-5
6.4 Disassembly and Reassembly of R-Axis Speed Reducer .................................................6-7
6.5 Disassembly and Reassembly of B-Axis Speed Reducer ................................................. 6-9
6.6 Disassembly and Reassembly of T-Axis Speed Reducer................................................ 6-12
7 Disassembly and Reassembly of Wrist Unit ................................................................................... 7-1
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