YASKAWA MOTOMAN-MH5F - U-Axis Speed Reducer Disassembly and Reassembly

6-8
176183-1CD
HW1483638
6 Disassembly and Reassembly of Speed Reducer
6.3 Disassembly and Reassembly of U-Axis Speed Reducer
MH5S
(II)/MH5F
6.3 Disassembly and Reassembly of U-Axis Speed Reducer
• Refer to Fig. 6-3 “Disassembly & Reassembly of the U-Axis Speed
Reducer”.
 Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Connect the backup batteries with the R-, B- and T-axes motors. After
disconnect all the cables connected to the internal wiring harness,
remove the internal wiring harness to the L-arm side. (Refer to
Chapter 10 “Cable Wiring”.)
3. Unscrew the hexagon socket button head screws and remove the
cover
4. Remove the timing belt . (Refer to section 8.1 “Disassembly and
Reassembly of L- and U-Axis Timing Belts”.)
Because the U-arm cannot keep its posture without the timing belt ,
be sure to support the U-arm before removing the timing belt .
5. Unscrew the GT-SA bolts . Then remove the housing , the wave
generator , the bearings and the pulley with the removal tap.
6. Unscrew the hexagon socket head cap screw from the removed
wave generator and remove the pulley and the housing .
7. Unscrew the GT-SA bolts . Then remove the circular spline with
the removal tap.
8. Unscrew the GT-SA bolts . Then remove the housing with the
removal tap. Because the casing and the L-arm are detached without
the housing , be sure to support the U-arm before removing the
housing .
9. Remove the bearing , the oil seal and the hexagon socket head
cap screws . Then remove the
flex spline .
10. Remove the bearing and the oil seal .
11. Remove old sealing from each parts.
 Reassembly
1. Mount the
flex spline on the casing. At this time, apply Harmonic
Grease SK-1A to the inside wall of the flex spline in thickness of
5mm or so.
2. Attach the conical spring washers to the hexagon socket head cap
screws and apply ThreeBond 1206C to the thread parts. Then
tighten them with the tightening torque shown in Table 6-3 “U-Axis
Speed Reducer Parts Checklist”.
3. Press fit the bearings into the casing. Apply ThreeBond 1206C to
the outside walls of the bearings
and LOCTITE 638 to the
matching face with the casing. Smooth the surplus sealing or
adhesive with a spatula. However, be careful not to spread the sealing
inside the bearings . (When replace the speed reducer, replace
the bearings too.)
4. Press fit the oil seal into the casing. (Before the press fit, remove
the sealing adhering to the casing so that the sealing does not adhere
to the oil seal when press fit into the bearing.) Align the oil seal side
with the casing side.
5. Put the housing through the L-arm and the bearing and connect
the casing with the L-arm.
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