This how-to is intended for Robotiq 3-Finger v-5.X and aboveThe following instructions will guide you through the replacement of the finger gears present in your Robotiq S-Model Gripper. The replacement of gears is suggested after 2 Million cycles (average) or after a year of continuous use. Only use gears provided by Robotiq support service. Required tools: Phillips screwdriver Loctite 263 heavy strength (with new logo) Loctite 220 low strength Retaining ring pliers (#582225A32 from McMaster Carr) Any key that fits in the finger A base holes Required parts: Grease syringe (from Robotiq) Finger gear (from Robotiq) 3/16 retaining rings (C-clip) 4-40 X 5/16 FHMS Finger gears replacement: Step 1: Open Robotiq S-Model fingers to wide mode. Using the Robotiq User Interface, set your Gripper to auto-release when the Gripper is fully open, turn o‑ your Gripper and unplug. Step 2: Remove the fingers. Removing fingers B & C: Using the retaining ring pliers remove the interior SH shaft rings from the proximal axis at the base of the finger (leave the other ring in place). Remove the proximal axis by hand. Removing finger A (thumb): Using the phillips screwdriver, remove the two 4-40 X 5/16 Flat Head Machine Screws on the palm pad (present on each side of the finger). Remove the proximal axis by pushing it with any key that fits in, the finger will be free floating. Step 3: Remove the finger gears. For each finger, using the phillips screwdriver, unscrew the three 4-40 X 5/16 Flat Head Machine Screws holding the bronze gear. Remove the gear, discard the screws, they must be replaced. Step 4: Replace with the new gear (on each finger). Apply Loctite 263 (new formula) to the new 4-40 X 5/16 screws’ thread and to the new gear thread. Screw the three 4-40 screws with a torque of about 5 pound-inch (0.6 N-m). Apply grease to the gear. Step 5: Replace fingers. Replacing finger A (thumb): Place the finger on the worm at the base, align the finger gear holes to the chassis holes, insert the finger A proximal axis until the 4-40 screw thread are cleared. Apply Loctite 220 to the 4-40 X 5/16 screws, tighten the two 4-40 screws with a torque of about 5 pound-inch (0.6 N-m). Replacing fingers B & C: Place the finger on the worm at the base, align the finger gear holes to the base holes, fully insert the proximal axis. Using the retaining ring pliers, place a new c-clip on the inside of the axis.