5-54
CHAPTER 5 Periodic Inspection
3. R-axis
1) Prepare the following tools and items.
• Harmonic grease 4B No.2
• Waste cloth (rag)
• Phillips-head screwdriver
• Hex wrench set
• Screw Lock (thread sealant)
• Torque-limiting wrench
• Hook wrench
• Replacement parts (See table below.)
Replacement parts
Parts name Type No .
OMRON Parts No.
Note
Harmonic drive
Edge seal
SHF-20-50
KN5-M1821-001
S71(JIS)
KN3-M2159-000
Lower part of harmonic drive
S63(JIS)
KN9-M1895-200
Upper part of bellows (2 pieces)
O-ring
Rubber wire diameter 0.99mm x Ring inner diameter 53.28mm
KN3-M2144-000
Supplied with harmonic drive
VR28A
KN5-M1886-000
2) Turn off the controller.
3) Place a sign indicating that the robot is being inspected, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis upper cover and bellows. Place the cover on the robot
base (pedestal) side with the machine harness still connected.
Refer to “7 Removing the Robot Covers” in Chapter 4 for removing and
reattaching the covers. Refer to “6 Replacing the bellows” in Chapter 5 for
removing and reattaching the bellows.
6)
Remove the bolts (M5×16L, 4 pieces) securing the bearing to the upper end
of the spline and remove the spline and bearing from the holder.
(See Fig. 5-46.)
Holder
Bearing
M5×16
Spline shaft
Fig. 5-46
WARNING
THE Z-AXIS WILL SLIDE DOWN WHEN THE SPLINE MOUNTING BOLTS
(M5×16L, 4 PIECES) ARE REMOVED IN THE NEXT STEP, CAUSING A
HAZARDOUS SITUATION. PROP THE Z-AXIS WITH A SUPPORT STAND
BEFORE LOOSENING THESE BOLTS.
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