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5
Replacing the har
monic dr
iv
e
5-7
Step2
Secure a new harmonic drive to the X-axis arm.
1. Degrease the harmonic drive installation surface of the X-axis arm.
Do not apply the grease to the seating part.
2. Fit the O-ring coated with the new harmonic grease into the O-ring groove of the X-axis arm. Since
the grease application to the O-ring is intended to prevent the O-ring from coming off, it is
accepted to apply a small amount of the grease.
CAUTION
Do not allow the O-ring to get caught out of the groove during reassembly. If the robot is operated with the O-ring
left caught out of the groove, this may cause a malfunction.
3. Secure the new harmonic drive to the X-axis arm with new bolts.
Apply harmonic grease 4B No.2 to the tip of each bolt so that the roots of at least the first four
threads are filled with grease.
NOTE
When performing the return-to-origin by means of the stroke end method, make the positioning of the harmonic
drive and secure it with the old bolts. After that, replace the old bolts with new ones to secure the harmonic drive
firmly.
For details, see "1. Adjusting the machine reference value" in Chapter 4.
Step 2
Mounting the harmonic drive
New washer (7)
Make the bolt matched with the
spot facing part of the arm.
Degrease the installation
surface to the X-axis arm.
New
Harmonic drive mounting bolts (6)
M3 × 35
12pcs
Tool B
O-ring groove
X-axis harmonic drive
Degrease the installation surface.
(Do not apply the grease to the seating part.)
New O-ring (4)
New harmonic drive (1)
53507-FV-00
Applying the grease to the mounting bolt
Step 2, 5
4B No.2 grease
53508-FH-00
Step3
Tighten the bolts in the order
shown below.
1. Using the wrench, tighten the bolts and
pan head bolts manually in the order
indicated by circled numbers.
2. Using the torque screwdriver, tighten the
bolts and pan head bolts to
approximately 50% of the specified
torque in the order indicated by circled
numbers.
3. Tighten the bolts and pan head bolts to
the specified torque in the order
indicated by circled numbers.
4. Finally, check that the bolts and pan
head bolts are tightened to the
specified torque.
Bolt and pan head bolt tightening order
Step 3
①
②
③
④
⑤
⑥
⑦
⑧
⑨
⑩
⑪
⑫
53509-FH-00
Summary of Contents for SCARA R6Y XE Series
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Page 135: ...Chapter 10 Robot cable replacement Contents 1 Robot cable replacement 10 1...
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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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