Circular spline
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
M4 set screw
Apply grease to entire oldham coupling.
O-ring : KN5-M2143-000
Spacer
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.
Fig. 5-22
19) Fit the O-ring to the motor and secure the motor to the motor holder with
the bolts (M6×14L, 4 pieces) you removed earlier. (See Fig. 5-18 and
Fig. 5-22.)
20) Fit a new O-ring coated with harmonic grease into the O-ring groove on the
motor holder and tighten the bolts (M6×20L, 4 pieces) you removed earlier
to temporarily secure the motor holder to the base. (See Fig. 5-18.)
21) Uniformly tighten the four bolts (M6×20L) temporarily fastened in the
previous step while moving the X-axis by hand slowly left and right
through 45°. If any jamming or catching is felt while moving the axis at
this time, then reassemble from the beginning.
22) Reattach the connectors on the X-axis motor power cable XM and resolver
cable XP.
23) Reattach the base (robot pedestal) front and rear covers and the X-axis arm
upper cover.
CAUTION
DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE
DURING REASSEMBLY. A TROUBLE 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 TROUBLE WILL OCCUR IF THE ROBOT IS
OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE.
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