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5
Replacing the har
monic dr
iv
e
5-16
Step4
Apply the grease to the inside of
the harmonic drive main body.
For the Y-axis, apply the grease so that it
becomes flat.
Applying the grease to the inside of
the harmonic drive main body
Step 4-6
O-ring (2)
supplied with the harmonic drive
Apply the grease so that
it becomes flat. 25g
Degrease the installation surface.
Remove only these
four temporarily
secured bolts.
53626-FV-00
Step5
Remove four temporarily secured
bolts.
Step6
Install the new O-ring (2) supplied
with a new harmonic drive.
1. Degrease the installation surface on the
top surface of the harmonic drive.
2. Fit the O-ring supplied with the new
harmonic drive into the O-ring groove
of the harmonic drive.
If it is difficult to fit the O-ring into the
groove, slightly stretch the O-ring.
It is accepted to apply a small amount
of the harmonic drive grease to the
O-ring in order to prevent the O-ring
from coming off from the groove.
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.
Step7
Secure the wave generator.
1. Pass the wave generator through the
motor shaft while carefully checking its
orientation.
For details about the positional
relationship between the wave
generator and motor, see the figure at
right.
2. Secure the wave generator with the set
screws (2 pcs.).
At this time, apply a small amount of
the screw lock to the set screws.
Securing the wave generator
Step 7
Motor shaft
Wave generator
M3 set screw supplied with
the harmonic drive
Apply a small amount of the
screw lock.
Tool B
Put the end faces of the motor
shaft and the wave generator
together.
Check that the wave generator
is not in contact with the Y-arm.
If the wave generator is in contact
with the Y-arm, this may cause the
wave generator to break.
53627-FV-01
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 the harmonic
grease 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.
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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