5
Replacing the har
monic dr
iv
e
5-1
1. Cautions on replacement of the harmonic drive
The following describes the cautions on replacement of the harmonic drive. Before beginning the replacement
work, always be sure to read these replacement procedures and caution.
■
Cautions on replacement of the harmonic drive
WARNING
• The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur
if these are touched. Before touching these parts, turn off the controller, wait for a while and check that the
temperature has cooled.
• When removing the wave generator from the motor shaft or reinstalling it back onto the motor shaft, use
caution to avoid as much as possible, applying a thrust load to the motor shaft. If a load is applied, the resolver
may be damaged resulting in a hazardous situation of the robot trouble.
Precautions when handling harmonic grease, cleaning oil:
• Inflammation may occur if they get in the eyes.
Before handling them, wear your safety goggles to ensure they will not come in contact with the eyes.
• Inflammation may occur if they come into contact with skin. Be sure to wear protective gloves to prevent
contact with skin.
• Do not take orally or eat. (Eating will cause diarrhea and vomiting.)
• Hands and fingers might be cut when opening the container, so use protective gloves.
• Keep out of the reach of children.
• Do not heat them or place near an open flame since this could lead to sparks and fires.
Emergency Treatment:
• If they get in the eyes, wash liberally with pure water for about 15 minutes and consult a physician for
treatment.
• If they come in contact with the skin, wash away completely with soap and water.
• If taken internally, do not induce vomiting but promptly consult a physician for treatment.
Disposing of harmonic grease, cleaning oil and the container:
• Proper disposal is compulsory under federal, state and local regulations. Take appropriate measures in
compliance with legal regulations.
• Do not pressurize the empty container. Pressurizing may cause the container to rupture.
• Do not attempt to weld, heat up, drill holes or cut this container. This might cause the container to explode and
the remaining materials inside it to ignite.
CAUTION
The harmonic drive service life may shorten if the grease recommended by OMRON is not used.
■
Recommended grease
Use the following harmonic drive grease.
4B No.2 (made by Harmonic Drive Systems Inc.)
CAUTION
Harmonic drive
• Do not apply strong shocks or impacts to these parts such as with a hammer. Also, do not scratch, scar or dent
these parts by dropping, etc. Such actions will damage the harmonic drive.
• The specified performance cannot be maintained if any part of the harmonic drive is used in a damaged
state. This damage or wear may also lead to trouble with the harmonic drive.
• Since a positional shift occurs after replacing the harmonic drive, it is necessary to make return-to-origin and
set the standard coordinate setting and point data setting again.
Summary of Contents for SCARA R6Y XE Series
Page 1: ...7 6HULHV DW 1R 1 5 VHULHV 0 17 1 1 0 18 6 5 5RERWV VHULHV...
Page 2: ......
Page 6: ......
Page 8: ......
Page 10: ......
Page 14: ......
Page 16: ......
Page 20: ......
Page 30: ......
Page 50: ......
Page 90: ......
Page 92: ......
Page 104: ......
Page 108: ......
Page 110: ......
Page 124: ......
Page 135: ...Chapter 10 Robot cable replacement Contents 1 Robot cable replacement 10 1...
Page 136: ......
Page 139: ...Chapter 11 Maintenance parts Contents 1 Consumable parts 11 1 2 Basic specification 11 2...
Page 140: ......
Page 144: ...DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH...