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5
Replacing the har
monic dr
iv
e
5-28
Step11
Secure q X shaft arm and harmonic drive.
X Secure the axis arm and harmonic drive.
Use new fixing bolts. Apply 4BNo. 2 grease to at least 4 threads at the end.
Tighten the bolts in the following tightening order.
1. Tighten all parts by hand using a wrench in the order of assembly tightening shown in the figure
below.
2. Tighten them all at about 50% of the specified torque by the torque driver in the order shown below.
3. The torque is increased in the order shown in the figure below in order with the specified torque.
4. Finally, check the torque for one full rotation.
Step 11
Attaching
Washer 11 10
M4×40 5
(Tools B)
Assembly and tightening order (enlarged view)
New bolt (enlarged view)
New O-ring 2
KN4-M2143-00
Decelerator*
M3×22 8(Tools E)
* Align the bolt head on the top of the reducer with
the counterbore hole on the back of the X-axis arm.
1
2
w
8
3
4
5
9
e
r
0
6
q
7
1
2
w
8
3
4
5
9
e
r
0
6
q
7
53536-FV-00
CAUTION
o prevent moment load from being applied to the harmonic drive, work with the X-axis and Y-axis arms
horizontal by two people. One person is an X-axis arm, Y Hold the shaft arm and attach the X-axis arm by
another person.
• Tightening the bolts while a moment load is applied to the harmonic drive may cause damage.Make sure that
the moment load is not applied.
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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