5
Replacing the har
monic dr
iv
e
5-9
Step7
Fit a new O-ring (3) into the
motor flange end face.
Securing the wave generator
Step 7-8
Motor flange end face
New O-ring (3)
Wave generator
(Harmonic drive)
M3 set screw
(Supplied with the harmonic drive.)
Apply a small amount of the screw lock.
Use the tool C.
53613-FK-00
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.
Step8
Secure the wave generator.
1. Pass the wave generator through the
motor shaft.
For details about the positional
relationship between the wave generator
and motor, see the figure at right.
X-axis motor position
Step 8
Put the end faces of the motor
and the wave generator together.
The amount of
protruding shaft
2mm
53513-FK-00
2. Secure the wave generator with the set
screw (1 pc.).
At this time, apply a small amount of
the screw lock to the set screw.
3. Apply the harmonic grease to the
portion between the wave generator
and motor, and the top surface of the
wave generator as shown in the Fig. on
the right.
Applying the harmonic grease
Step 8
24g
Fill the portion between the motor
and wave generator with the
harmonic grease.
Apply the grease slightly inside
the wave generator.
Apply the remaining grease to the
top surface of the wave generator.
Apply the grease slightly inside
the wave generator.
Wave generator
53513-FV-00
CAUTION
• If it is difficult to fit the wave generator onto the
motor shaft by pushing by hand, do not
forcefully push in. Grind the key or motor shaft
with sandpaper or similar tool to make it easier
to fit the wave generator onto the motor shaft.
• Apply the specified amount of harmonic grease
(total specified amount, 24g) to each part of the
harmonic drive. An insufficient amount of grease
may shorten the service life of the drive parts,
and an excessive amount may cause the
grease to leak.
Step9
Install the X-axis motor.
1. Push the X-axis motor into the base
while moving the X-axis arm manually.
At this time, pay special attention so
that any grease does not stick to the
base.
2. Using the tool A, uniformly tighten the
four bolts while moving the X-axis arm
by hand slowly left and right at intervals
of 45°. At this time, if any jamming or
catching is felt, reassemble from the
beginning.
Installing the X-axis motor
Step 9
Bolt
Tool A
Base
X-axis motor
53615-FV-00
Step10
Attach the connectors of the
X-axis motor power wire XM and
resolver wire XP in the base, and
the round terminal of the X-axis
motor.
Refer to Chapter 6 “Replacing the machine
harness”.
Step11
Reattach the base cover.
Summary of Contents for SCARA R6Y XE Series
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