5
Replacing the har
monic dr
iv
e
5-13
Step6
Remove the wave generator from
the motor shaft.
Remove the set screws (2 pcs.) that secure
the wave generator.
Removing the wave generator
Step 6
Motor shaft
M3 set screw
Wave generator
53620-FV-00
Step7
Remove the Y-axis harmonic drive
from the top surface of the X-axis
arm.
1. Remove the Y-axis harmonic drive
mounting bolts.
2. Remove the O-ring.
53621-FV-00
NOTE
The O-ring in the Y-axis harmonic drive must be
replaced with a new one later on.
Removing the Y-axis harmonic drive
Step 7
O-ring
X-axis arm
Harmonic drive
Washer
Bolt
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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