5
Replacing the har
monic dr
iv
e
5-35
Step2
Secure the new harmonic drive to
the X-axis arm.
1. X Degrease the mounting surface of the
harmonic drive on the shaft arm.
Do not apply grease to the seating
surface.
2. X Attach a new O-ring 3 to the O-ring
groove on the shaft arm.
Step 2
Ring
Ring
New O-ring (4)
Installing the harmonic drive
X-axis arm
O-ring groove
O-ring groove
New harmonic drive (1)
New harmonic drive (1)
New washer (6)
Never remove this temporarily secured bolt.
Make the bolt matched with the spot facing
position of the arm.
Newbolts (8)
M3 × 30
X Degrease the
mounting surface of
the harmonic drive
on the shaft arm.
53623-FV-00
CAUTION
• Be careful not to bite the O-ring through the
groove. If the product is used while it is caught,
failure may result.
• Never remove the temporary fixing bolts.
Misalignment occurs.
3. Place the new harmonic drive on the
X-axis arm and secure it with the new
bolts.For the fixing bolts, apply 4BNo. 2
grease to the troughs with four or more
crests at the end and fill the entire
circumference.
Grease is applied to stabilize bolt axial
force.
NOTE
If the origin return is the abutting method, use the
old bolt to perform positioning, and then use the
new bolt.
For details, see "1. Adjusting the machine reference
value" in Chapter 4.
Step3
Assemble the bolts using the
following tightening procedures.
1. In the order shown in the figure on the
right, tighten all parts by hand using a
wrench.
2. In the order shown in the figure on the
right, tighten them all at about 50% of
the specified torque by the torque
driver.
Applying the grease to the mounting bolt
Step 2, 7
4B No.2 grease
3. Torque up with the specified torque
sequentially in the order shown in the
figure on the right.
4. Finally, check the torque for one full
rotation.
53625-FV-00
Tightening instructions for bolts
Step 3
1
2
3
4
5
6
7
8
9
10
11
12
Summary of Contents for SCARA R6Y XE Series
Page 1: ...7 6HULHV DW 1R 1 5 VHULHV 0 17 1 1 0 18 6 5 5RERWV VHULHV...
Page 2: ......
Page 6: ......
Page 8: ......
Page 10: ......
Page 14: ......
Page 16: ......
Page 20: ......
Page 30: ......
Page 50: ......
Page 90: ......
Page 92: ......
Page 104: ......
Page 108: ......
Page 110: ......
Page 124: ......
Page 135: ...Chapter 10 Robot cable replacement Contents 1 Robot cable replacement 10 1...
Page 136: ......
Page 139: ...Chapter 11 Maintenance parts Contents 1 Consumable parts 11 1 2 Basic specification 11 2...
Page 140: ......
Page 144: ...DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH...