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5
Replacing the har
monic dr
iv
e
5-15
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 a new O-ring (3) into the O-ring
groove of the X-axis arm.
Installing the harmonic drive
Step 2
X-axis arm
O-ring groove
Remove the temporarily
secured bolt later.
New harmonic drive (1)
New washer (4)
New O-ring (3)
Never remove this temporarily secured bolt.
Make the bolt matched with the spot facing
position of the arm.
Decrease the harmonic
drive installation surface
of the X-axis arm.
New harmonic
drive (1)
New
Harmonic drive mounting bolts (5)
M3 × 30 12pcs
53623-FV-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.
• Never remove the temporarily secured bolt.
Doing so may cause a misalignment.
3. Place a new harmonic drive on the
X-axis arm and secure it with the new
bolts.
Apply the 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.
Grease applied to the bolt tip is
intended to stabilize the bolt axial force.
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.
Step3
Tighten the bolts and pan head
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 driver, tighten the bolts
and pan head bolts to approximately
50% of the specified torque in the order
indicated by circled numbers..
Applying the grease to the mounting bolt
Step 2, 7
4B No.2 grease
Step3
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.
53625-FV-00
Bolt tightening order
Step 3
1
2
3
4
5
6
7
8
9
10
11
12
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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