5-39
CHAPTER 5 Periodic Inspection
Fig. 5-31
9) Remove the bolts (M4×10L, 4 pieces) securing the R-axis motor plate at
the top of the Y-axis arm. (See Fig. 5-32.)
10) Loosen the pulley set screw (M4, 2 pieces) and remove the pulley from the
wave generator. (See Fig. 5-32.)
11) Remove the harmonic drive installation bolts (M3×16L, 9 pieces) and pull
out the harmonic drive from the bottom of the Y-axis arm. (See Fig. 5-32.)
M4×10
M4 set screw
M3×16
Pulley
Fig. 5-32
12) Remove the retaining ring for the wave generator and pull out the wave
generator from the bottom of the Y-axis arm.
CAUTION
AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL
NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-31.)
CAUTION
AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL
NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
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