5-47
CHAPTER 5 Periodic Inspection
17) Fit the wave generator onto the motor shaft, and fully insert it against the
motor. Then, apply small amounts of “Screw Lock” to the M4 set screw (1
piece) you removed earlier and tighten it to secure the wave generator onto
the motor shaft. (See Fig. 5-40.)
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is caught out of groove.
O-ring : KN5-M2199-000
O-ring : KN5-M2143-000
M4 set screw
Apply grease to entire oldham coupling.
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. 5-40
18) Fit a new O-ring to the motor and temporarily fasten the motor and spacer
to the base with the bolts (M6×20L, 4 pieces) you removed earlier. Insert a
new O-ring between the spacer and the base at this point.
Insert the motor with the wave generator into the harmonic drive while
holding the motor slantways. If it is difcult to insert the motor, try
inserting it again while slowly rotating the X-axis arm. (See Fig. 5-36.)
19) 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.
20) Reattach the connectors on the X-axis motor power cable XM and resolver
cable XP.
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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