YASKAWA Motoman GP50 - Speed Reducer Disassembly and Reassembly; Axis Speed Reducer Procedures

6 Disassembly and Reassembly of the Speed Reducer
6.1 Disassembly and Reassembly of the S-Axis Speed Reducer
6-1
HW1484673
HW1484673
6 Disassembly and Reassembly of the Speed Reducer
6.1 Disassembly and Reassembly of the S-Axis Speed
Reducer
• Refer to fig. 6-1(a) “Disassembly and Reassembly of the S-Axis
Speed Reducer” .
 Disassembly
1. Turn OFF the power supply of the YRC1000.
2. Disconnect the internal wiring harness from the S-head.
(Refer to chapter 8 “Cable Wiring” .)
3. Remove the S-axis motor , and then remove the input gear .
(Refer to chapter 5.1 “Disassembly and Reassembly of the S-Axis
Motor” .)
If the S-head is removed without removing the S-axis motor, an
external force will be applied to the shaft of the motor, causing the
shaft to bend or causing damage to the motor.
4. Unscrew the hexagon socket head cap screws and . Lift up the
upper part of the manipulator including the S-head, and put it down
next to the base. If there is a risk of damaging the S-axis mechanical
stoppers and when doing this, remove them beforehand.
5. Remove the parallel pin .
6. Unscrew the hexagon socket head cap screws , and then remove
the speed reducer from the base.
7. Remove the union from the speed reducer .
 Reassembly
1. Mount the union on the speed reducer . Wrap the seal tape
TB4501 around the thread part of the union .
2. Mount the speed reducer on the base.
3. Tighten the hexagon socket head cap screws with the tightening
torque shown in table 6-1 “S-Axis Speed Reducer Parts Checklist” .
4. Mount the parallel pin on the speed reducer .
5. Apply ThreeBond 1206C to the contact surface of the speed reducer
and the S-head, and then place the upper part of the manipulator
including the S-head on the speed reducer . For the place to apply
sealing bond, refer to fig. 6-1(b) “Surface to Apply Sealing Bond on
the S-Axis Speed Reducer” .
NOTE
When replacing the S-, L-, and U-axis speed reducers, dis-
connect the internal wiring harness. For the procedure,
refer to chapter 8 “Cable Wiring” .
Refer to chapter 3 “Home Position Return” , chapter 4
“Notes on Grease Replenishment/Exchange Procedures” ,
and chapter 4.2 “Removing, Applying, Assembling of Seal-
ing Bond” .
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