5-32
CHAPTER 5 Periodic Inspection
15) Apply harmonic grease to the new wave generator. See Fig. 5-23 for apply-
ing grease properly.
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is
caught out of groove.
O-ring : KN5-M257L-000
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Apply grease to sufficiently fill in the ball space.
O-ring groove
O-ring : KN6-M1896-010
Wave generator
Apply grease to entire oldham coupling.
Apply grease to the thickness equal to the
ball diameter.
Circular spline
Fig. 5-23
16) Fit the O-ring coated with harmonic grease into the O-ring groove on the
new wave generator (wave generator support bearing section), and then in-
sert the wave generator into position from the bottom of the Y-axis arm.
17) Apply harmonic grease to the circular spline.
See Fig. 5-23 for applying grease properly.
18) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive. (See Fig. 5-23.)
Apply small amounts of "Screw Lock" to the bolts (M4×45L, 12 pieces)
and tighten them to secure the harmonic drive to the Y-axis arm from the
top of the Y-axis arm. (See Fig. 5-22.)
19) Apply small amounts of "Screw Lock" to the bolts (M3×30L, 4 pieces) and
tighten them to secure the pulley to the wave generator. (See Fig. 5-22.)
20) Fit the timing belt onto the wave generator pulley and motor pulley, and
then secure the motor plate. (See Fig. 5-22.)
CAUTION
AN O-RING IS FITTED TO THE WAVE GENERATOR, SO BE CAREFUL
NOT TO DROP IT INTO THE PERIPHERAL UNIT.
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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