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5-27
CHAPTER 5 Periodic Inspection
19) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive.
Apply small amounts of "Screw Lock" to the bolts (M3×18L, 8 pieces) and
tighten them to secure the harmonic drive to the Y-axis arm from the top of
the Y-axis arm.
20) Apply small amounts of "Screw Lock" to the M4 set screws (2 pieces) and
tighten them to secure the pulley to the wave generator.
21) Check that the timing belt is fitted on the wave generator pulley and motor
pulley, and then secure the motor plate. (See Fig. 5-15.)
22) Fasten the dog ring on the Harmonic drive.
23) Next, secure the fastening plate to the harmonic drive with the button bolts
(M3×20L, 6 pieces) coated with small amounts of "Screw Lock". (See Fig.
5-17.) At this point, be careful to keep the spline shaft from coming off the
spline nut.
CAUTION
REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG. 5-16 AT THIS POINT.
NEVER REMOVE THE BOLTS ON THE OPPOSITE SIDE. IF THEY ARE
REMOVED, THE HARMONIC DRIVE AXIS MAY DEVIATE FROM THE
CENTER CAUSING TROUBLE.
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.
CAUTION
IT IS NECESSARY TO APPLY CORRECT TENSION TO THE TIMING BELT
DURING REASSEMBLY. REFER TO "8 ADJUSTING THE TIMING BELT
TENSION" IN CHAPTER 4.
CAUTION
THE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE EDGE
SEAL EFFECT IS INSUFFICIENT, SO CAREFULLY REASSEMBLE THE
PARTS.
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...