5-16
CHAPTER 5 Periodic Inspection
14) Apply harmonic grease to the new wave generator and exspline.
See Fig. 5-6 for applying grease properly.
Fit O-ring (supplied) into this groove
Harmonic drive willl be damaged if O-ring is caught out of groove.
O-ring : KN3-M2144-000
M3 set screw
Apply grease to entire oldham coupling.
O-ring : KN3-M2143-000
Wave generator
Apply grease to sufficiently fill in the ball space.
Apply grease to the thickness equal to the ball diameter.
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Circular spline
Fig. 5-6
15) Fit the wave generator onto the motor shaft and fully insert it against the
motor. Then, apply small amounts of "Screw Lock" to the M3 set screw (1
piece) you removed earlier and tighten it to secure the wave generator. (See
Fig. 5-6.)
16) Fit a new O-ring to the motor and secure the motor to base 1 with the bolts
(M5×12L, 4 pieces) you removed earlier. (See Fig. 5-4.)
17) Fasten base 1 to base 2 with the bolts (M6×14L, 6 pieces) you removed
earlier. (See Fig. 5-3.)
18) Reattach the connectors on the X-axis motor power cable XM and resolver
cable XP.
19) Fit a new O-ring into the O-ring groove on the X-axis arm and place the
arm on the harmonic drive. Then, apply small amounts of "Screw Lock"
to the bolts (M3×40L, 8 pieces) you removed earlier and tighten them uni-
formly to secure the X-axis arm to the base. (See Fig. 5-1 and Fig. 5-2.)
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.
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