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5-29
CHAPTER 5 Periodic Inspection
5-2-2
R6YXX1200
The R6YXX1200 uses a harmonic drive only for the R-axis. The following
steps describe procedures and precautions when replacing this harmonic drive.
For the bolt tightening torques in this work, refer to Table 5-2.
1) Prepare the following tools and items.
• Harmonic grease 4B No.2
• Waste cloth (rag)
• Phillips-head screwdriver
• Hex wrench set
• Screw Lock (thread sealant)
• Torque-limiting wrench
• Hook wrench
• Replacement parts (See table below.)
Replacement parts
Parts name
Type No .
OMRON Parts No.
Note
Harmonic drive
Edge seal
SHF-25-50
S90(JIS)
KN6-M1821-001
Cross section diameter:1.30mm
x
Inner diameter: 66.50mm
KN4-M2143-000
KN4-M257L-000
Lower part of harmonic drive
O-ring
Cross section diameter:1.25mm
x
Inner diameter: 37.50mm
KN6-M1896-010
Supplied with harmonic drive
Wave generator support bearing section
VR32A
KN6-M1886-000
2) Turn off the controller.
3) Place a sign indicating that the robot is being inspected, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis arm front cover.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Remove the bolts (M5×20L, 4 pieces) and then separate the spline support
shaft (2 pieces) from the shaft fastening plate. (See Fig. 5-18.)
M5
×
20
Spline support shaft
Spline
Shaft fastening plate
M4
×
30
Fig. 5-18
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...