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5-33
CHAPTER 5 Periodic Inspection
2. Y-axis
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
• Replacement parts (See table below.)
Replacement parts
Parts name
Type No .
OMRON Parts No.
Note
Harmonic drive
SHF-20-80
KN4-M2510-001
Rubber wire diameter 1.78mm
x
Ring inner diameter 72.75mm KN4-M257K-000 Lower part of harmonic drive
O-ring
Rubber wire diameter 1.50mm x Ring inner diameter 49.00mm KN3-M2143-000
For motor
Rubber wire diameter 0.99mm x Ring inner diameter 53.28mm KN3-M2144-000 Supplied with harmonic drive
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 upper cover. Place the cover on the robot base
(pedestal) side with the machine harness still connected. Refer to “7 Remov-
ing the Robot Covers” in Chapter 4 for removing the covers.
6) Disconnect the connectors on the Y-axis motor power cable YM and
resolver cable YP.
7) Remove the Y-axis motor installation bolts (M5×14L, 4 pieces) and then
remove the Y-axis motor by swaying it gently right and left.(See Fig. 5-23.)
M5
×
14
Fig. 5-23
CAUTION
AN O-RING IS FITTED TO THE MOTOR, SO BE CAREFUL NOT TO LET IT
DROP INTO THE PERIPHERAL UNIT.
Содержание SCARA R6Y-XC Series
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