5
Replacing the har
monic dr
iv
e
5-26
Step4
Install the wave generator.
Install the wave generator
Step 4
Wave generator
53538-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.
53540-FV-00
Step5
Secure the wave generator.
1. Push the wave generator through the
motor shaft until it hits the step.
2. Fix with one set screw.
At this time, apply a small amount of
screw lock to the set screw.
X motor position
Step 5
Push the wave generator
until it hits the step of the
motor output shaft.
Applying motor grease
Step 5
wave generator
Fill the space between the motor and
the wave generator with harmonic
grease.
Apply grease slightly inside the wave
generator. (27g)
51539-FV-00
3. Apply harmonic grease between the
wave generator and the motor as
shown in the figure on the right
(application of harmonic grease).
CAUTION
• If the wave generator is too tight to press into
the motor shaft when pressed with your finger,
do not force the key or motor shaft into place,
but rub the key or motor shaft with sandpaper so
that it can be inserted without difficulty.
• Apply a specified amount of harmonic grease
(total specified amount: 24g) to each part of the
harmonic drive.
Be aware that if it is too small,
the life of the drive section may decrease, and if
it is too large, grease may leak.
Step6
X Install the shaft motor.
1. Be careful not to attach grease to the
motor holder.
2. Use tool A to evenly tighten the four
bolts. At this time, re-assemble the
product if there is "prying" or abnormal
feeling.
Installing the X-axis Motor
Step 6
Bolted M6x18(Tools A)
X-axis motor
New O-ring 3
90990-17J030
53541-FV-00
Step7
Apply grease to the motor unit.
Flatly apply harmonic grease to the flex
spline.
Make sure that the grease is below the flex
spline surface.
Applying grease
Step 7
Grease 19g
Grease 19g
Grease 19g
Motor unit
53542-FV-00
Summary of Contents for SCARA R6Y XE Series
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