5-23
CHAPTER 5 Periodic Inspection
3. R-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
• Adjustable wrench or spanner
• Replacement parts (See table below.)
Replacement parts
Parts name Type No .
OMRON Parts No.
Note
Harmonic drive
Edge seal
SHF-14-50
KN3-M1821-001
S53(JIS)
KN3-M1895-000 Lower part of harmonic drive
O-ring
Cross section diameter: 0.80mm x Inner diameter: 23.70mm
Cross section diameter: 0.60mm x Inner diameter: 37.10mm
KN3-M181H-000
KN5-M181G-000
For wave generator
Supplied with harmonic drive
VR18A
KN3-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 upper cover. Place the cover on the robot base
(pedestal) side with the machine harness still connected.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Remove the bolts (M4×8L, 4 pieces) securing the bearing to the upper end
of the spline and remove the spline mount plate, spline and bearing from
the holder. (See Fig. 5-11.)
M4×8
Spline mount plate
Bearing
Holder
Spline shaft
Fig. 5-11
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