Omron SCARA R6Y-XC Series, User Manual, Page: 148 / 203

5-20
CHAPTER 5 Periodic Inspection
16) Fit the wave generator onto the motor shaft and fully insert it against the
motor. Then, apply small amounts of “Screw Lock” to the M3 set screw (2
piece) you removed earlier and tighten it to secure the wave generator. (See
Fig. 5-10.)
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is caught out of groove.
O-ring : KN3-M257L-000
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Apply grease to sufficiently fill in the ball space.
Apply grease to entire oldham coupling.
Apply grease to the thickness equal to the ball diameter.
Circular spline
M3 set screw
Wave generator
O-ring : KN3-M257K-000
Y-axis arm
Remove the temporarily tightened bolts when assembling
Keep the circular spline from coming off when assembling
Fig. 5-10
17) Secure the Y-axis arm to the harmonic drive with the bolts (M3×20L, 8
pieces) you removed earlier. Apply small amounts of “Screw Lock” to the
bolts and tighten them uniformly to secure the Y-axis arm. (See Fig. 5-7.)
18) Reattach the Y-axis arm upper cover.
19) Go outside the safeguard enclosure.
20) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
CAUTION
DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE
DURING REASSEMBLY. A TROUBLE WILL OCCUR IF THE ROBOT IS
OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE.
WHEN REASSEMBLING THE HARMONIC DRIVE, BE CAREFUL TO KEEP
THE CIRCULAR SPLINE FROM COMING OFF. IF IT COMES OFF, THE
HARMONIC DRIVE AXIS WILL DEVIATE FROM THE CENTER CAUSING
A TROUBLE.