YASKAWA MOTOMAN-MH5S User Manual

6-12
176183-1CD
HW1483638
6 Disassembly and Reassembly of Speed Reducer
6.4 Disassembly and Reassembly of R-Axis Speed Reducer
MH5S
(II)/MH5F
6.4 Disassembly and Reassembly of R-Axis Speed Reducer
• Refer to Fig. 6-4 “Disassembly & Reassembly of the R-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, pull
out the internal wiring harness to the S-head side. (Refer to Chapter
10 “Cable Wiring”.)
3. Remove the R-axis motor. (Refer to section 5.4 “Disassembly and
Reassembly of the R-Axis Motor”.)
4. Unscrew the GT-SA bolts and remove the pipe . Then remove the
belt hung on the pulley . (Refer to section 8.2 “Disassembly and
Reassembly of R-Axis Timing Belt”.)
5. Unscrew the hexagon socket head cap screws and remove the wrist
unit from the casing. (Refer to Chapter 7 “Disassembly and
Reassembly of Wrist Unit”.)
6. Unscrew the GT-SA bolts and remove the pulley and the
washer from the wave generator .
7. Unscrew the hexagon socket head cap screws . Then remove the
housing from the circular spline/ flex spline with the removal tap
for the housing .
8. Pull out the wave generator with the bearings .
9. Unscrew the hexagon socket head cap screws and remove the
circular spline/ flex spline from the U-arm.
10. Remove old sealing from each parts.
 Reassembly
1. Apply ThreeBond 1206C to the matching face between the circular
spline/ the flex spline and the U-arm. Then mount the circular
spline/ the flex spline on the U-arm.
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 6-4 “R-Axis
Speed Reducer Parts Checklist”.
3. Press fit the bearings into the wave generator . Apply
ThreeBond 1206C to the joint part of the inside walls of the
bearings
(application amount: about 1 g). (When replace the
speed reducer, replace the bearings too.)
4. Insert the wave generator in the circular spline/ the flex spline .
(Apply Harmonic Grease SK-1A to the bearing of the wave
generator (application amount: about 2 g).) (When insert the wave
generator , apply ThreeBond 1206C to the joint part of the outside
wall of the bearing (application amount: about 1 g).)
5. Apply ThreeBond 1206C to the matching face between the housing
and the circular spline/ the flex spline . Then mount the housing
on the circular spline/ the flex spline . (When mount the housing ,
apply ThreeBond 1206C to the joint part of the outside wall of the
bearing (application amount: about 1 g).)
13
14
11
12
10
9
12
8
2
6
7
1
7
2
4
5
3
1
1
1
3
4
5
2
4
5
4
5
2
1
2
2
5
7
1
7
1
7
4
59 of 99

YASKAWA MOTOMAN-MH5S Specifications

General

Brand	YASKAWA
Model	MOTOMAN-MH5S
Category	Robotics
Language	English