5
Replacing the har
monic dr
iv
e
5-25
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 the O-ring coated with the new harmonic grease into the O-ring groove of the X-axis arm. Since
the grease application to the O-ring is intended to prevent the O-ring from coming off, it is
accepted to apply a small amount of the grease.
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.
3. Secure the new harmonic drive to the X-axis arm with new bolts.
Apply 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.
Applying the grease to the mounting bolt
Step 2, 5
4B No.2 grease
53508-FH-00
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 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 screwdriver, tighten the bolts and pan head bolts to approximately 50% of the
specified torque in the order indicated by circled numbers.
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.
Step 2
,
3
Installing the harmonic drive
Harmonic drive1
New O-ring 4
(With harmonic drive)
KN5-M257L-00
Motor holder
Ring
New Washers 11
Harmonic assembly fastening order
(motor holder enlarged view
)
New harmonic fixing bolt 7
M4 × 20
Apply 4B No. 2 grease to the top
four or more peaks
1
2
y
w
8
3
4
5
9
e
t
r
0
6
q
7
53537-FV-00
Summary of Contents for SCARA R6Y XE Series
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