To remove the J4-axis wrist flange, what must be done first?

To remove the J4-axis wrist flange, the first necessary step is to remove the J4-axis reducer. This is because the reducer is an integral part of the J4-axis assembly that connects the motor to the wrist flange. The reducer typically contains gears that allow for the proper ratio of torque and speed, which affects the behavior and movement of the J4-axis. When disassembling this axis, the reducer must be removed to gain access to the flange, as it is usually mounted directly to or interacts with components that need to be detached before the flange can be safely removed.

While disconnecting cables, removing the J2-axis arm, or securing the flange with locking nuts may be necessary steps in the overall disassembly process, they would not be the first actions taken. The reducer's removal is crucial as it serves as the primary barrier to accessing the wrist flange.