YASKAWA MOTOMAN-MH5S User Manual

7-1
176183-1CD
HW1483638
7 Disassembly and Reassembly of Wrist Unit
MH5S
(II)/MH5F
7 Disassembly and Reassembly of Wrist Unit
• Refer to Fig. 7-1 “Disassembly & Reassembly of Wrist Unit”.
 Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Unscrew the hexagon socket button head screws and remove the
cover .
3. Connect backup batteries with the B- and T-axes motors.
4. Disconnect the connectors of the B- and T-axes connected to the
internal wiring harness.
5. Unscrew the pan-head sems screws , pull out the connected base
and disconnect the connected internal wiring harness and the air
hoses.
6. Unscrew the hexagon socket button head screws and remove the
cover . Unscrew the GT-SA bolts and pull out the internal wiring
harness to the casing side. (Refer to chapter 10.)
7. Unscrew the GT-SA bolts and remove the pipe .
8. Remove the R-axis motor . (Refer to section 5.4 “Disassembly and
Reassembly of the R-Axis Motor”.)
9. Remove the timing belt . (Refer to section 8.2 “Disassembly and
Reassembly of R-Axis Timing Belt”.)
10. Unscrew the hexagon socket head cap screws . With the removal
tap, remove the wrist unit.
11. Remove old sealing from each parts.
 Reassembly
1. Apply Three Bond 1206C to the matching face between the casing and
the wrist unit .
2. Mount the wrist unit on the casing.
3. Attach the conical spring washers to the hexagon socket head cap
screws and apply Three Bond 1206C to their thread parts. Then
tighten them with the tightening torque shown in Table 7-1 “Wrist Unit
Parts Checklist”.
4. Mount the R-axis motor . (Refer to section 5.4.)
5. Put the timing belt on the pulley . (Refer to section 8.2.)
6. Mount the pipe and tighten the GT-SA bolts with the tightening
torque shown in Table 7-1.
7. Connect the internal wiring harness to wire. (Refer to chapter 10.)
8. Tighten the GT-SA bolts with the tightening torque shown in
Table 7-1.
9. Remove the backup batteries from the B- and T-axes motors.
NOTE
Refer to the following chapters in this manual as needed:
Chapter 2 “Notes for Maintenance”, Chapter 3 “Home
Position Return”, Chapter 5 “Disassembly and Reassembly
of the Motor” and Chapter 10 “Cable Wiring”.
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YASKAWA MOTOMAN-MH5S Specifications

General

Brand	YASKAWA
Model	MOTOMAN-MH5S
Category	Robotics
Language	English