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5-32
CHAPTER 5 Periodic Inspection
15) Apply harmonic grease to the new wave generator. See Fig. 5-23 for apply-
ing grease properly.
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is
caught out of groove.
O-ring : KN5-M257L-000
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Apply grease to sufficiently fill in the ball space.
O-ring groove
O-ring : KN6-M1896-010
Wave generator
Apply grease to entire oldham coupling.
Apply grease to the thickness equal to the
ball diameter.
Circular spline
Fig. 5-23
16) Fit the O-ring coated with harmonic grease into the O-ring groove on the
new wave generator (wave generator support bearing section), and then in-
sert the wave generator into position from the bottom of the Y-axis arm.
17) Apply harmonic grease to the circular spline.
See Fig. 5-23 for applying grease properly.
18) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive. (See Fig. 5-23.)
Apply small amounts of "Screw Lock" to the bolts (M4×45L, 12 pieces)
and tighten them to secure the harmonic drive to the Y-axis arm from the
top of the Y-axis arm. (See Fig. 5-22.)
19) Apply small amounts of "Screw Lock" to the bolts (M3×30L, 4 pieces) and
tighten them to secure the pulley to the wave generator. (See Fig. 5-22.)
20) Fit the timing belt onto the wave generator pulley and motor pulley, and
then secure the motor plate. (See Fig. 5-22.)
CAUTION
AN O-RING IS FITTED TO THE WAVE GENERATOR, SO BE CAREFUL
NOT TO DROP IT INTO THE PERIPHERAL UNIT.
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.
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.
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...