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5
Replacing the har
monic dr
iv
e
5-3
Name
Part No.
Manufacturer
Remarks
C
Torque screwdriver
N12LTDK
KANON
(Nakamura Mfg. Co., Ltd.)
For M3 set screw
Tightening torque: 0.7Nm (7kgfcm)
Drive bit
3C1507
NAC
(Nagahori Industry Co., Ltd.)
Attachment hexagonal width across flat: 6.35mm
Overall length: 70mm
Hexagonal width across flat at tip: 1.5mm
* Use a commercially available torque wrench to tighten bolts other than those shown above.
3.
Other tools
Name
Part No.
Manufacturer
Remarks
Harmonic grease
4B No.2 (*1)
Harmonic Drive Systems
Do not use grease if it was purchased 4 or more years
ago. The grease has probably deteriorated.
Cleaning wipe
Phillips screwdriver
Hex wrench set
Screw thread locking
agent
Loctite 262
Henkel
High strength type (red)
*1: 27g
2.1.2 Removal
Follow the steps below to remove the X-axis parts.
Step1
Turn off the controller.
Step2
Place a sign indicating the robot is
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating
the controller or operation panel.
Step3
Enter the safety enclosure.
CAUTION
In the following steps, when removing the robot
body, perform the work with great care since it is
very heavy.
Step4
Remove the base cover.
Remove the base cover
Step 4-5
Bolt M4 x 8
The round terminal of the X-axis motor
is present inside here. So, disconnect
this terminal.
Cover
53504-FV-00
Step5
Disconnect the connectors of the
X-axis motor power wire XM and
resolver wire XP in the base, and
the round terminal of the X-axis
motor.
Refer to Chapter 6 “Replacing the machine
harness”.
Содержание SCARA R6Y XE Series
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