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5-21
CHAPTER 5 Periodic Inspection
15) Fasten the dog ring on the Harmonic drive.
16) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive
17) Apply harmonic grease to the new wave generator and flexspline.
See Fig. 5-10 for applying grease properly.
18) Fit the wave generator onto the motor shaft and fully insert it against the
motor. Then, apply small amounts of "Screw Lock" to the M3 set screw (2
piece) you removed earlier and tighten it to secure the wave generator. (See
Fig. 5-10.)
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is caught out of groove.
O-ring : KN3-M257L-000
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Apply grease to sufficiently fill in the ball space.
Apply grease to entire oldham coupling.
Apply grease to the thickness equal to the ball diameter.
Circular spline
M3 set screw
Wave generator
O-ring : KN3-M257K-000
Y-axis arm
Remove the temporarily tightened bolts when assembling
Keep the circular spline from coming off when assembling
Fig. 5-10
19) Secure the Y-axis arm to the harmonic drive with the bolts (M3×20L, 8
pieces) you removed earlier. Apply small amounts of "Screw Lock" to the
bolts and tighten them uniformly to secure the Y-axis arm. (See Fig. 5-7.)
CAUTION
DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE
DURING REASSEMBLY. A PROBLEM WILL OCCUR IF THE ROBOT IS
OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE.
WHEN REASSEMBLING THE HARMONIC DRIVE, BE CAREFUL TO KEEP
THE CIRCULAR SPLINE FROM COMING OFF. IF IT COMES OFF, THE
HARMONIC DRIVE AXIS WILL DEVIATE FROM THE CENTER CAUSING
TROUBLE.
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Страница 218: ...7 6 CHAPTER 7 Specifications...
Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...