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5
Replacing the har
monic dr
iv
e
5-2
2. Replacement procedure for harmonic drive
R6YXE400
The following describes the procedures and precautions for replacing the harmonic drive.
For the bolt tightening torque in the harmonic drive replacement work, see the Table below. However,
when tightening the mounting bolts for the harmonic drive, observe the tightening torque specified in each
replacement procedure. Use only OMRON genuine bolts.
■
Bolt tightening torque
Bolt size
Tightening torque (kgfcm)
Tightening torque (Nm)
M3 set screw
7
0.69
M4 set screw
17
1.7
M3
20
2.0
M4
46
4.5
M5
92
9.0
M6
156
15.3
M8
380
37.0
M10
720
71.0
Recommended "Screw thread locking agent": LOCTITE 262 (made by Henkel Corporation)
2.1 Replacing the X-axis harmonic drive
WARNING
Before starting the work, thoroughly read “1. Attaching, detaching, and replacing the cover” in Chapter 2.
The following shows the parts and tools necessary for the X-axis harmonic drive replacement work.
2.1.1 Preparation
1.
Replacement parts
Part Name
OMRON Part No.
Part No. / Specs
Q'ty
Remarks
1
Harmonic drive
KDS-M2110-00
1
2
O-ring
(Supplied with the harmonic drive.)
KN3-M2144-00
Cross section diameter: 0.99mm
Inside diameter: 53.28mm
1
May deteriorate and must
be replaced
3
O-ring
KN3-M2143-00
Cross section diameter: 1.5mm
Inside diameter: 49.0mm
1
May deteriorate and must
be replaced
4
O-ring
KN4-M257K-00
Cross section diameter: 1.78mm
Inside diameter: 72.75mm
1
May deteriorate and must
be replaced
5
Harmonic drive mounting bolt
91312-03020
M3 × 20
16
Must be replaced
6
Harmonic drive mounting bolt
91312-03035
M3 × 35
12
Must be replaced
7
Washer
92903-03600
28
Must be replaced
8
Harmonic drive mounting bolt
91312-03008
M3 × 8
4
2.
Tools(Torque wrench, etc.)
CAUTION
Use accurately calibrated torque screwdrivers and torque wrenches.
Name
Part No.
Manufacturer
Remarks
A
Torque wrench
N120SPCK
KANON
(Nakamura Mfg. Co., Ltd.)
For M5 hex socket head bolt
Tightening torque: 7.4Nm (76kgfcm)
Changeable head
230HCK4
KANON
(Nakamura Mfg. Co., Ltd.)
Wrench (without ball end) for M5 hex socket head bolt;
insert 110mm
B
Torque screwdriver
N30LTDK
KANON
(Nakamura Mfg. Co., Ltd.)
For M3 hex socket head bolt
Tightening torque: 1.8Nm (18kgfcm)
Drive bit
B35, opposite
side 2.5×75
Vessel Co., Inc.
Attachment hexagonal width across flat: 6.35mm
Overall length: 75mm
Hexagonal width across flat at tip: 2.5mm
Summary of Contents for SCARA R6Y XE Series
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Page 139: ...Chapter 11 Maintenance parts Contents 1 Consumable parts 11 1 2 Basic specification 11 2...
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