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5
Replacing the har
monic dr
iv
e
5-14
2.2.3 Replacement and reassembly
Follow the steps below to replace the harmonic
drive with a new one and reassemble it.
Step1
Perform the work shown below
before reassembling the harmonic
drive.
1. Install the bolts on the harmonic drive.
2. Remove the bolts that have been
assembled and secured temporarily.
Preparations before assembling the harmonic drive
Step 1
After the bolts (7) have been installed,
remove the black bolts (4 pcs.)
that have been secured temporarily.
Harmonic drive mounting bolts (7)
M3 × 8 (4 pcs)
53514-FK-00
CAUTION
Do not remove the bolts that have been secured
temporarily before installing new bolts. Doing so
may cause a misalignment.
3. Apply the harmonic grease 4B No.2 to
a new wave generator.
4. Remove the old grease and worn-out
particles from the motor, X-axis arm, and
Y-axis arm completely.
Applying the harmonic grease (wave generator)
Step 1
Fill ball spaces with the grease
sufficiently.
Apply the grease.
Total grease amount: 2g
53622-F6-00
CAUTION
If foreign matter is caught in during reassembly
work, this may cause the noise from the harmonic
drive or the harmonic drive to break.
5. Apply the grease to the harmonic drive
gear clearances.
CAUTION
An insufficient amount of grease may shorten the
service life of the drive parts, and an excessive
amount may cause the grease to leak.
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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