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5-23
CHAPTER 5 Periodic Inspection
3. R-axis
1) Prepare the following tools and items.
• Harmonic grease 4B No.2
• Waste cloth (rag)
• Phillips-head screwdriver
• Hex wrench set
• Screw Lock (thread sealant)
• Torque-limiting wrench
• Adjustable wrench or spanner
• Replacement parts (See table below.)
Replacement parts
Parts name
Type No .
OMRON Parts No.
Note
Harmonic drive
Edge seal
SHF-14-50
KN3-M1821-001
S53(JIS)
KN3-M1895-000 Lower part of harmonic drive
O-ring
Cross section diameter: 0.80mm
x
Inner diameter: 23.70mm
Cross section diameter: 0.60mm
x
Inner diameter: 37.10mm
KN3-M181H-000
KN5-M181G-000
For wave generator
Supplied with harmonic drive
VR18A
KN3-M1886-000
2) Turn off the controller.
3) Place a sign indicating that the robot is being inspected, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis arm upper cover. Place the cover on the robot base
(pedestal) side with the machine harness still connected.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Remove the bolts (M4×8L, 4 pieces) securing the bearing to the upper end
of the spline and remove the spline mount plate, spline and bearing from
the holder. (See Fig. 5-11.)
M4
×
8
Spline mount plate
Bearing
Holder
Spline shaft
Fig. 5-11
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...