5-52
CHAPTER 5 Periodic Inspection
15) 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. 5-45.)
16) Secure the Y-axis arm to the harmonic drive with the bolts (M4×20L, 16
pieces) you removed earlier. Apply small amounts of “Screw Lock” to the
bolts and tighten them uniformly to secure the Y-axis arm. (See Fig. 5-42.)
17) Apply harmonic grease to the new wave generator and exible spline.
See Fig. 5-45 for applying grease properly.
18) 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.
(See Fig. 5-45.)
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
Apply grease to entire oldham coupling.
O-ring : KN5-M2143-000
M4 set screw
Wave generator
Apply grease to sufficiently fill in the ball space.
Apply grease to the thickness equal to the ball diameter.
Circular spline
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Fig. 5-45
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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