Omron R6YXGLC250, Installation Manual, Page: 98 / 136

5
Har
monic dr
iv
e r
eplacement per
iod
5-2
2. 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 replacement period for the X-axis
harmonic drive of the R6YXG500 can be calculated as follows.
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
Harmonic drive speed reduction ratio
Robot model X-axis Y-axis R-axis
R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500,
R6YXGLC(P)600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900,
R6YXGP1000
80 80 50
R6YXGP500, R6YXGP600 80 80 30