5-34
CHAPTER 5 Periodic Inspection
8) Remove the wave generator from the motor shaft. The wave generator is
secured with an M4 set screws. (See Fig. 5-27.)
9) Remove the Y-axis arm installation bolts (M3×20L, 12 pieces). (See
Fig. 5-24.)
Fig. 5-24
10) Remove the Y-axis arm and place it where it will not obstruct the work.
11) Remove the Y-axis harmonic drive installation bolts (M3×40L, 8 pieces)
from the bottom of the arm. (See Fig. 5-25.)
Fig. 5-25
12) Remove the Y-axis harmonic drive from the top of the X-axis arm.
WARNING
WHEN YOU REMOVE THE Y-AXIS ARM INSTALLATION BOLTS (M3×20L,
12 PIECES) IN THE NEXT STEP, THE Y-AXIS ARM MAY COME OFF
CAUSING A HAZARDOUS SITUATION. BE ESPECIALLY CAREFUL TO
KEEP THE ARM FROM FALLING WHEN A HEAVY TOOL IS ATTACHED
TO THE ARM TIP.
CAUTION
AN O-RING IS FITTED TO THE UPPER SURFACE OF THE HARMONIC
DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL
UNIT.
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