5-27
CHAPTER 5 Periodic Inspection
19) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive.
Apply small amounts of "Screw Lock" to the bolts (M3×18L, 8 pieces) and
tighten them to secure the harmonic drive to the Y-axis arm from the top of
the Y-axis arm.
20) Apply small amounts of "Screw Lock" to the M4 set screws (2 pieces) and
tighten them to secure the pulley to the wave generator.
21) Check that the timing belt is tted on the wave generator pulley and motor
pulley, and then secure the motor plate. (See Fig. 5-15.)
22) Fasten the dog ring on the Harmonic drive.
23) Next, secure the fastening plate to the harmonic drive with the button bolts
(M3×20L, 6 pieces) coated with small amounts of "Screw Lock". (See Fig.
5-17.) At this point, be careful to keep the spline shaft from coming off the
spline nut.
CAUTION
REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG. 5-16 AT THIS POINT.
NEVER REMOVE THE BOLTS ON THE OPPOSITE SIDE. IF THEY ARE
REMOVED, THE HARMONIC DRIVE AXIS MAY DEVIATE FROM THE
CENTER CAUSING TROUBLE.
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.
WHEN REASSEMBLING THE HARMONIC DRIVE, BE CAREFUL TO KEEP
THE CIRCULAR SPLINE FROM COMING OFF. IF IT COMES OFF, THE
HARMONIC DRIVE AXIS WILL DEVIATE FROM THE CENTER CAUSING
TROUBLE.
CAUTION
IT IS NECESSARY TO APPLY CORRECT TENSION TO THE TIMING BELT
DURING REASSEMBLY. REFER TO "8 ADJUSTING THE TIMING BELT
TENSION" IN CHAPTER 4.
CAUTION
THE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE EDGE
SEAL EFFECT IS INSUFFICIENT, SO CAREFULLY REASSEMBLE THE
PARTS.
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