7 Disassembly and Reassembly of the Speed Reducers
7.1 Disassembly and Reassembly of S-Axis Speed Reducer
7-1
HW1485471
HW1485471
7 Disassembly and Reassembly of the Speed Reducers
7.1 Disassembly and Reassembly of S-Axis Speed Reducer
• Refer to fig. 7-1(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 of only the rotating part of the
S-axis. (Refer to chapter 9 “Cable Wiring” .)
3. Remove the S-axis motor . (Refer to chapter 6.1 “Disassembly and
Reassembly of the S-Axis Motor” .)
4. Unscrew the hexagon socket head cap screws , and remove the
gear unit.
5. Unscrew the hexagon socket head cap screws , and insert the stud
bolt M10 (length: 50 mm or more) into the tapped hole M10 (2 places)
on the S-head. Screw the stud bolt into the tapped hole until clearance
is made between the contact surface of the S-head and the speed
reducer .
6. Lift up the upper part of the manipulator including the S-head, and put
it down next to the base.
7. Unscrew the GT-SA bolts , and then remove the cover .
8. Unscrew the hexagon socket head cap screws , and insert the stud
bolt M12 (length: 35 mm or more) into the tapped hole M12 (2 places)
on the speed reducer . Screw the stud bolt into the tapped hole
until the clearance is made between the contact surface of the base
and the speed reducer .
9. Mount the eyebolts diagonally on the tapped hole M16 (2 places) on
the speed reducer . Remove the speed reducer vertically by
using the eyebolts. At this time, remove the O-ring .
10. Unscrew the hexagon socket head cap screws , and remove the
shaft and the O-ring .
11. Remove the old sealing bond on the S-head and base.
Refer to chapter 3 “Home Position Return” , chapter 5
“Notes on Grease Replenishment/Exchange Procedures” ,
and chapter 5.2 “Removing, Applying, Assembling of Seal-
ing Bond” .
Remove old sealing from each part before starting reas-
sembling.
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