5
Replacing the har
monic dr
iv
e
5-30
3.2 Replacing the Y-axis harmonic drive
WARNING
Before starting the work, thoroughly read “1. Attaching, detaching, and replacing the cover” in Chapter 2.
The following shows the parts and tools necessary for the Y-axis harmonic drive replacement work.
3.2.1 Preparation
1.
Replacement parts
Part Name
OMRON Part No.
Part No. / Specs
Q'ty
Remarks
1
Harmonic drive
KDS-M2110-00
1
2
O-ring(Supplied with the
harmonic drive.)
KN3-M2144-00
Cross section diameter: 0.99mm
Inside diameter: 53.28mm
1
May deteriorate and must be
replaced.
3
O-ring
KN3-M2143-00
Cross section diameter: 1.5mm
Inside diameter:49.0mm
1
May deteriorate and must be
replaced.
4
O-ring
KN4-M257K-00
Cross section diameter: 1.78mm
Inside diameter:72.75mm
1
May deteriorate and must be
replaced.
5
Washer
92902-03600
M3
16
6
Washer
92902-32000
M3
12
7
Harmonic drive mounting bolt
91312-03020
M3 × 20
16
8
Harmonic drive mounting bolt
91312-03030
M3 × 30
12
9
Harmonic drive mounting bolt
91312-03008
M3 × 8
8
2.
Tools(Torque wrench, etc.)
CAUTION
Use accurately calibrated torque screwdrivers and torque wrenches.
Name
Part No.
Manufacturer
Remarks
A
Torque Wrench
N120SPCK
KANON
(Nakamura Mfg. Co., Ltd.)
For M5 hex socket head bolt
Tightening torque: 7.4Nm (76kgfcm)
Replacement head
230HCK4
KANON
(Nakamura Mfg. Co., Ltd.)
Insert M5 hexagon socket wrench (without end ball)
110mm
B
Torque screwdriver
N30LTDK
KANON
(Nakamura Mfg. Co., Ltd.)
For M3 hex socket head bolt
Tightening torque: 1.8Nm (18kgfcm)
Drive bit
B35, opposite
side 2.5×75
Vessel Co., Inc.
Attachment hexagonal width across flat: 6.35mm
Overall length: 75mm
Hexagonal width across flat at tip: 2.5mm
C
Torque screwdriver
N12LTDK
KANON
(Nakamura Mfg. Co., Ltd.)
For M3 set screw
Tightening torque: 0.7Nm (7kgfcm)
Drive bit
3C1507
NAC
(Nagahori Industry Co., Ltd.)
Attachment hexagonal width across flat: 6.35mm
Overall length: 70mm
Hexagonal width across flat at tip: 1.5mm
* Use a commercially available torque wrench to tighten bolts other than those shown above.
3.
Other tools
Name
Part No.
Manufacturer
Remarks
Harmonic grease
4B No.2 (*1)
Harmonic Drive Systems
Do not use grease if it was purchased 4 or more years
ago. The grease has probably deteriorated.
Cleaning wipe
Phillips screwdriver
Hex wrench set
Screw thread locking
agent
Loctite 262
Henkel
High strength type (red)
*1: 27g
Summary of Contents for SCARA R6Y XE Series
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