Apply grease to the thickness equal to the ball diameter.
Circular spline
Apply grease to sufficiently fill in the ball space.
Apply grease to entire oldham coupling.
Remove the temporarily tightened bolts when assembling
Keep the
circular spline
from coming off when assembling
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is
caught out of groove.
O-ring : KN3-M257L-000
Wave generator
Retaining ring groove
Fig. 5-33
14) Insert the new wave generator into the Y-axis arm from the bottom, and
secure it with the retaining ring. The chamfered side of the retaining ring
should face downwards.
15) Apply harmonic grease to the circular spline.
See Fig. 5-33 for applying grease properly.
16) Remove the four bolts temporarily tightened to the new harmonic drive.
17) 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. 5-33.)
Apply small amounts of “Screw Lock” to the bolts (M3×16L, 9 pieces) and
tighten them to secure the harmonic drive to the Y-axis arm from the top of
the Y-axis arm. (See Fig. 5-32.)
CAUTION
REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG. 5-33 AT THIS POINT.
NEVER REMOVE THE BOLTS ON THE OPPOSITE SIDE. IF THEY ARE
REMOVED, THE HARMONIC DRIVE AXIS MAY DEVIATE FROM THE
CENTER CAUSING A TROUBLE.
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.
WHEN REASSEMBLING THE HARMONIC DRIVE, BE CAREFUL TO KEEP
THE CIRCULAR SPLINE FROM COMING OFF. IF IT COMES OFF, THE
HARMONIC DRIVE AXIS WILL DEVIATE FROM THE CENTER
CAUSING A TROUBLE.
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