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5-8
CHAPTER 5 Periodic Inspection
5
Replacing the Harmonic Drive
The X series robots listed in Table 5-1 use a harmonic drive as the speed reduc-
tion gear for the X, Y and R axes. Harmonic drives need to be replaced after a
specified operation time. Use the guideline explained below to determine the
replacement period and replace the harmonic drive periodically.
Since the X series robots listed in Table 5-1 use long-life harmonic grease, it is
not necessary to replace the harmonic grease.
5-1
Replacement period
The harmonic drive replacement period is determined by the total number of
turns of the wave generator used in the harmonic drive. It is recommended to
replace the harmonic drive when the total number of turns has reached 8.4×10
8
(at ambient operating temperatures of 0°C to +40°C). This means that the
replacement period will differ depending on the following operating conditions.
If the robot operation duty ratio is high or the robot is operated in environments
at higher temperatures, the harmonic drive should be replaced earlier.
Replacement period = 8.4×10
8
/(n×60×h×D×N×θ) years
where
n
: Number of axis movements per minute
θ
: Average turn per axis movement
N
: Speed reduction ratio
h
: Operation time per day
D
: Operation days per year
For example, when the robot is used under the following conditions, the replace-
ment period for the X-axis harmonic drive of the robot can be calculated as fol-
lows.
n
: 10
θ
: 0.25
N
: 80
h
: 24 hours per day
D
: 240 days per year
Replacement period = 8.4×10
8
/(n×60×h×D×N×θ)
= 8.4×10
8
/(10×60×24×240×80×0.25)
= 12.2 years
Table 5-1 Harmonic drive speed reduction ratio
Robot model
R6YXH250, R6YXH350, R6YXH400
R6YXX1200
50
–
50
–
50
50
X-axis
Y-axis
R-axis
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...