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

6 Disassembly and Reassembly of Speed Reducer
6.6 Disassembly and Reassembly of T-Axis Speed Reducer
6-19
176183-1CD
HW1483638
MH5S(II)/MH5F
6.6 Disassembly and Reassembly of T-Axis Speed Reducer
• Refer to Fig. 6-6 “Disassembly & Reassembly of the T-Axis Speed
Reducer”.
 Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Unscrew the GT-SA bolts and remove the T-axis unit including from
the wrist base to the gear .
3. Unscrew the hexagon socket head cap screw and remove the
gear and the shim .
4. Unscrew the hexagon socket head cap screws and remove the
housing with the removal tap.
5. Remove the circular spline with the removal tap.
6. Remove the wave generator and the bearing
s .
7. Remove the retaining ring .
8. Unscrew the hexagon socket head cap screws and remove the
housing and the flex spline .
9. Remove old sealing and LOCTITE from each parts.
 Reassembly
1. Put the housing through the flex spline , then mount the flange.
2. Tighten the hexagon socket head cap screws with the tightening
torque shown in Table 6-6 “T-Axis Speed Reducer Parts Checklist”.
3. Attach the retaining ring to the housing . (When replace the speed
reducer, replace the retaining ring too)
4. Apply LOCTITE 515 to the matching face between the housing and
the circular spline and mount the circular spline on the
housing . Also, apply Harmonic Grease SK-1A on the surface
between the teeth of flex spline and the circular spline .
5. Press fit the bearings into the wave generator . Then insert it in
the housing . (When replace the speed reducer, replace the
bearings too.) Also, apply Harmonic Grease SK-1A to the inside
wall of the flex spline in thickness of roughly equal to the bearing
diameter of the wave generator (application amount: about 8 g).
6. Apply LOCTITE 515 to the matching face between the housing and
the circular spline . Then mount the housing on the circular
spline .
7. Tighten the hexagon socket head cap screws with the tightening
torque shown in Table 6-6.
8. Mount the gear and the shim .
9. Attach the conical spring washer to the hexagon socket head cap
screw and apply LOCTITE 242 to its thread part. Then tighten it
with the tightening torque shown in Table 6-6.
10. Mount the O-ring on the housing . (When replace the speed
reducer, replace the O-ring too)
11. Mount the T-axis unit reassembled from the step1 to 10 on the wrist unit.
12. Temporary tighten the GT-SA bolts .
10
7
8
7
9
12
11
1
3
14
6
4
11
2
11
2
4
6
11
6
5
1
1
5
2
1
14
3
11
14
2
3
11
1
11
1
12
7
9
8
13
11
13
10
66 of 99