5
Replacing the har
monic dr
iv
e
5-24
3.1.3 Replacement and reassembly
Follow the steps below to replace the harmonic drive with a new one and reassemble it.
Step1
Perform the work shown below before reassembling the harmonic drive.
1. Install the bolts on the harmonic drive.
2. Remove the bolts that have been assembled and secured temporarily.
Step 1
Preparations before assembling the harmonic drive
After the bolts (8) have been installed,
remove the black bolts (4 pcs.)
that have been secured temporarily.
Harmonic drive mounting bolts (12)
M3 × 8
4pcs
53512-FK-00
CAUTION
Do not remove the bolts that have been secured temporarily before installing new bolts. Doing so may cause a
misalignment.
3. Apply the harmonic grease to a new wave generator. For details about how to apply the grease,
see the Fig. below.
Degrease the top and bottom installation surfaces of the harmonic drive.
Wave generator
Flex spline
Circular spline
Temporarily secured bolt
Apply the grease to the gear clearances.
Fill ball spaces with the grease sufficiently.
Apply the grease to the entire surface of Oldham's coupling.
Total grease amount: 4g
Degrease the installation surface.
Degrease the installation surface.
Step 1
Applying the harmonic grease
53536-FK-00
4. Remove the old grease and worn-out particles from the installation surfaces of the harmonic drive
completely.
CAUTION
• If foreign matter is caught in during reassembly work, this may cause the noise from the harmonic drive or the
harmonic drive to break.
• Never remove the temporarily secured bolts. Doing so may cause a misalignment.
Summary of Contents for SCARA R6Y XE Series
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