Omron SCARA R6Y-XC Series, User Manual, Page: 170 / 203

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CHAPTER 5 Periodic Inspection
5-2-3 R6YXC700, R6YXC800, R6YXC1000
The following steps describe procedures and precautions when replacing the
harmonic drives of the R6YXC700, R6YXC800 and R6YXC1000.
For the bolt tightening torques in this work, refer to Table 5-2.
1. X-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)
• Ratchet handle
• Hexagonal socket set
• Extension bar
• Torque-limiting wrench
• Replacement parts (See table below.)
Base (robot pedestal)
Motor
Supplied with harmonic drive
Replacement parts
Parts name Type No . OMRON Parts No. Note
Harmonic drive
SHF-32-80 KN5-M2110-001
R6YXC700, R6YXC800
SHF-32-100 KN5-M2110-101 R6YXC1000
O-ring
S115(JIS) KN5-M2159-000 Top of harmonic drive
Rubber wire diameter 1.78mm x Ring inner diameter 78.97mm
Rubber wire diameter 1.78mm x Ring inner diameter 69.57mm
Rubber wire diameter 1.50mm x Ring inner diameter 87.50mm
KN5-M2144-000
KN5-M2143-000
KN5-M2199-000
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 base (robot pedestal) front and rear covers and the X-axis arm
upper cover.
Refer to “7 Removing the Robot Covers” in Chapter 4 for removing the
covers.
6) Disconnect the connectors on the X-axis motor power cable XM and
resolver cable XP.