5
Replacing the har
monic dr
iv
e
5-20
3. Replacement procedure for harmonic drive
R6YXE610 R6YXE710
The following describes the procedures and precautions for replacing the harmonic drive.
For the bolt tightening torque in the harmonic drive replacement work, see the Table below. However,
when tightening the mounting bolts for the harmonic drive, observe the tightening torque specified in each
replacement procedure. Use only OMRON genuine bolts.
■
Bolt tightening torque
Bolt size
Tightening torque (kgfcm)
Tightening torque (Nm)
M3 set screw
7
0.69
M4 set screw
17
1.7
M3
20
2.0
M4
46
4.5
M5
92
9.0
M6
156
15.3
M8
380
37.0
M10
720
71.0
Recommended "Screw thread locking agent": LOCTITE 262 (made by Henkel Corporation)
3.1 Replacing the X-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 X-axis harmonic drive replacement work.
3.1.1 Preparation
1.
Replacement parts
Part Name
OMRON Part No.
Part No. / Specs
Q'ty
Remarks
1
Harmonic drive
KBP-M2510-00
1
2
O-ring
KN4-M2143-00
S90(JIS)
1
May deteriorate and must
be replaced
3
O-ring
90990-17J030
Cross section diameter: 1.78mm
Inside diameter: 66.4mm
1
May deteriorate and must
be replaced
4
O-ring
KN5-M257L-00
Cross section diameter: 1.30mm
Inside diameter: 66.5mm
1
Attached to harmonic
drive
5
Harmonic drive mounting bolt
91312-04040
M4 × 40
10
Must be replaced
6
Harmonic drive mounting bolt
91312-04030
M4 × 30
2
Must be replaced
7
Harmonic drive mounting bolt
91312-04020
M4 × 20
16
Must be replaced
8
Harmonic drive mounting bolt
91312-03022
M4 × 22
4
Must be replaced
9
Motor holder fixing bolt
91312-05025
M5 × 25
8
Must be replaced
10
Washer
92902-03200
M3
4
Must be replaced
11
Washer
92902-04600
M4
26
Must be replaced
12
Harmonic drive mounting bolt
91312-03008
M3 × 8
4
Summary of Contents for SCARA R6Y XE Series
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