5-29
CHAPTER 5 Periodic Inspection
5-2-2 R6YXX1200
The R6YXX1200 uses a harmonic drive only for the R-axis. The following
steps describe procedures and precautions when replacing this harmonic drive.
For the bolt tightening torques in this work, refer to Table 5-2.
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
• Hook wrench
• Replacement parts (See table below.)
Replacement parts
Parts name Type No .
OMRON Parts No.
Note
Harmonic drive
Edge seal
SHF-25-50
S90(JIS)
KN6-M1821-001
Cross section diameter:1.30mm x Inner diameter: 66.50mm
KN4-M2143-000
KN4-M257L-000
Lower part of harmonic drive
O-ring
Cross section diameter:1.25mm x Inner diameter: 37.50mm
KN6-M1896-010
Supplied with harmonic drive
Wave generator support bearing section
VR32A
KN6-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 front cover.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Remove the bolts (M5×20L, 4 pieces) and then separate the spline support
shaft (2 pieces) from the shaft fastening plate. (See Fig. 5-18.)
M5×20
Spline support shaft
Spline
Shaft fastening plate
M4×30
Fig. 5-18
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