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5
Replacing the har
monic dr
iv
e
5-8
Step4
Fit the new O-ring coated with the
harmonic grease into the O-ring
groove of the harmonic drive.
1. Degrease the top surface of the plate
where the harmonic drive is to be
installed.
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.
2. Fit the new O-ring coated with the
harmonic grease into the O-ring groove
of the harmonic drive.
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 harmonic grease.
Installing the harmonic drive
Step 4
New
Harmonic drive mounting bolts (5)
M3 × 20
16pcs
Tool B
New washer (7)
Temporarily secured bolt
O-ring (2) supplied with
the harmonic drive
Do not stick any grease
to the seating part.
Degrease the base top surface
where the harmonic drive is to
be installed.
53510-FV-01
Step5
Secure the harmonic drive to the
base.
Secure the harmonic drive to the base with
the new bolts.
The harmonic drive’s phase with respect to
the plate should be as shown in the Fig. on
the right.
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.
①
②
③
④
⑤
⑥
⑦
⑧
⑨
⑩
⑪
⑫
⑮
⑯
⑭
⑬
Bolt tightening order
Step 5-6
Step6
Tighten the bolts in the order
shown below.
1. Using the wrench, tighten the bolts
manually in the order indicated by
circled numbers.
2. Using the torque screwdriver, tighten the
bolts to approximately 50% of the
specified torque in the order indicated
by circled numbers.
3. Tighten the bolts to the specified torque
in the order indicated by circled
numbers.
4. Finally, check that the bolts are
tightened to the specified torque.
53511-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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