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5-31
CHAPTER 5 Periodic Inspection
9) Remove the bolts (M4×14L, 2 pieces) on the underside of the Y-axis arm
and remove the R-axis dog ring from the fastening plate.
10) Remove the bolts (M4×30L, 8 pieces) on the underside of the Y-axis arm
and remove the plate fastening the spline and the harmonic drive. (See Fig.
5-18.)
O-ring : KN4-M2143-000
Fig. 5-21
11) Remove the bolts (M6×20L, 4 pieces) securing the R-axis motor plate at
the top of the Y-axis arm. (See Fig. 5-22.)
12) Loosen the pulley bolts (M3×30L, 4 pieces) and remove the pulley fastened
to the wave generator. (See Fig. 5-22.)
13) Remove the harmonic drive installation bolts (M4×45L, 12 pieces) and pull
out the harmonic drive from the bottom of the Y-axis arm. (See Fig. 5-22.)
M6
×
20
M3
×
30
M4
×
45
pulley
Fig. 5-22
14) Pull out the wave generator from the bottom of the Y-axis arm.
CAUTION
AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL
NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-21.)
CAUTION
AN O-RING IS FITTED TO THE HARMONIC DRIVE, SO BE CAREFUL
NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
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...