5
Replacing the har
monic dr
iv
e
5-12
2.2.2 Removal
Follow the steps below to remove the Y-axis parts.
Step1
Turn off the controller.
Step2
Place a sign indicating the robot is
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating
the controller or operation panel.
Step3
Enter the safety enclosure.
Step4
Remove the cover.
Removing the cover
Step 4
Cover
hex socket
head bolt
53618-FV-00
WARNING
If the Y-axis arm mounting bolts are removed in
step 5, the Y-axis arm comes off, causing
hazardous situation.
If a heavy tool is attached to the arm tip, the arm
may drop. Take great care when removing the
Y-axis arm mounting bolts.
Step5
Remove the Y-axis arm.
1. Remove the Y-axis arm mounting bolts.
2. Remove the Y-axis arm.
Place the Y-axis arm that has been
removed in a place where it is not in
contact with the harness. This does not
hinder the work.
3. Remove the O-ring.
Removing the Y-axis arm
Step 5
O-ring supplied with
the harmonic drive
Bolt
Washer
Y-axis arm
53619-FV-00
NOTE
The O-ring in the harmonic drive must be replaced
with a new one later on.
The O-ring may adhere to the bottom surface of
the Y-axis arm, so be sure to remove it.
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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