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5
Replacing the har
monic dr
iv
e
5-36
Step4
Apply the remaining grease to the
inside of the harmonic unit.
Y On the shaft, apply grease so that it is
flat.
Applying grease inside the harmonic body
Step 4-5
Harmonic Drive Accessories
O-ring
Harmonic Drive Accessories
O-ring
Apply grease so that it is flat.
Degrease the mounting surface.
53626-FV-00
Step5
Install the new harmonic drive
attached O-ring.
1. Degrease the installation surface on the
top surface of the harmonic drive.
2. Fit the O-ring supplied with the new
harmonic drive into the O-ring groove
of the harmonic drive.
If it is difficult to fit the O-ring into the
groove, slightly stretch the O-ring.
It is accepted to apply a small amount
of the harmonic drive grease to the
O-ring in order to prevent the O-ring
from coming off from the groove.
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.
Step6
Secure the Y-axis arm to the
harmonic drive.
1. Degrease the Y-axis arm side where the
harmonic drive is attached.
2. Apply 4BNo. 2 grease to a trough of 4 or
more tips of new fixing bolts and fill the
entire circumference.
Fixing the Y-axis arm
Step 6
Do not apply grease to
the seating part.
Harmonic Drive Accessories
O-ring
New washer 5
New harmonic fixing bolt 7
M3 × 20
Degreasing the Y-axis arm side
where the harmonic drive is attached
Decelerator*
* Align the bolt head on the top of the reducer with
the counterbore hole on the back of the X-axis arm.
53627-FV-01
CAUTION
Tightening the bolts while a moment load is
applied to the harmonic drive may cause
damage. Perform the work so that the moment
load is not applied.
3. Y Attach the shaft arm to the harmonic
drive with a new bolt (harmonic fixing
bolt (No.6)) for fixing. At this time, make
sure that the Y-axis arm is horizontal with
two people so that no moment load is
applied to the Y-axis harmonic drive.
One person should support the tip of
the Y-axis arm and the other should
attach the Y-axis arm.
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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