YASKAWA Motoman GP35L - Disassembly and Reassembly of the T-Axis Motor

5 Disassembly and Reassembly of the Motor
5.6 Disassembly and Reassembly of the T-Axis Motor
5-21
HW1484673
HW1484673
5.6 Disassembly and Reassembly of the T-Axis Motor
• Refer to fig. 5-8(a) “Disassembly and Reassembly of the T-Axis
Motor” .
• For the layout of the R-, B-, and T-axis motors, refer to fig. 5-9 “Lay-
out of the U-, R-, B-, and T-Axis Motors” .
 Disassembly
1. Turn OFF the power supply of the YRC1000.
2. Remove the encoder connector of the T-axis motor (fixing bolt: pan-
head screw M2), and then disconnect the encoder cable.
3. Turn the connector on the cable side of the power connector for the T-
axis motor , and then disconnect the power cable. If the connector
does not turn, remove the connector by holding the connector on the
cable side with a pair of plastic pliers etc.
4. Unscrew the hexagon socket head cap screws , and then remove
the T-axis motor from the casing.
5. Unscrew the hexagon socket head cap screw , and then remove the
washer , gear , and key .
 Reassembly
1. Mount the key , gear , and washer on the T-axis motor.
2. Pass the hexagon socket head cap screw through the conical
spring washer, and then apply LOCTITE 243 to the thread part of the
screw. Tighten the screw with the tightening torque shown in table 5-7
“T-Axis Motor Parts Checklist” .
3. When replacing the old motor with a new motor, plug the motor's
grease detection holes (3 places other than bottom surface) with the
slim head screws .
4. Apply ThreeBond 1206C to the contact surface of the T-axis motor
and the casing, and then mount the T-axis motor on the casing. For
the place to apply sealing bond, refer to fig. 5-8(b) “Surface to Apply
Sealing Bond on the T-Axis Motor” .
5. Pass the hexagon socket head cap screws through the conical spring
washers, and then apply ThreeBond 1206C to the thread part of the
screws. Tighten them with the tightening torque shown in table 5-7.
6. Connect the encoder cable to the T-axis motor , and then tighten
the connector fixing bolt (pan-head screw M2) with a tightening torque
of 0.2 N•m.
(The connector fixing bolt is provided with the connector.)
NOTE
• Make the U-arm point downwards as much as possible at
disassembly or reassembly of the R-, B-, T-axis motor.
If the U-arm points upwards when removing the motor, a
lot of grease comes out, which makes disassembly or
reassembly difficult.
• Support the wrist part with a base, etc. before removing
the R-, B-, T-axis motor. Otherwise, the wrist part may
rotate unexpectedly.
1
1
2
1
6
5
4
3
3
4
5
6
7
1
1
1
53/109