YASKAWA MOTOMAN-PH130F - 8 Disassembly and Reassembly of Wrist Unit

8 Disassembly and Reassembly of Wrist Unit
8-1
HW1485471
HW1485471
8 Disassembly and Reassembly of Wrist Unit
• Refer to fig. 8-1 “Disassembly and Reassembly of Wrist Unit” .
 Disassembly
1. Make the wrist a 90° angle to the U-arm (refer to fig. 8-1 “Disassembly
and Reassembly of Wrist Unit” ), and then, turn OFF the power supply
of the YRC1000.
2. Unscrew the GT-SA bolts , and then remove the cover .
3. Unscrew the magic screws and remove the B nut .
4. Remove the gear . (Be sure not to lose the shim ).
5. Unscrew the hexagon socket head cap screws , and remove the
wrist unit from the speed reducer by using the tapped holes on
the wrist base .
 Reassembly
1. Apply sealing bond ThreeBond 1206C to the contact surface of the
wrist unit and the speed reducer , and then mount the wrist unit
on the speed reducer . At this time, mount the wrist unit on
the speed reducer with the gear not mounted to the wrist unit
.
2. Tighten the hexagon socket head cap screws with the tightening
torque shown in table 8-1 “Wrist Unit Parts Checklist” .
3. Mount the retaining ring and bearing on the gear .
4. Mount the gear and shim on the wrist unit .
5. Measure the backlash in the gear and adjust the shim. Use a
small micrometer and determine the number of shims so that the
backlash is 0.05 mm to 0.1 mm in the gear pitch diameter.
6. Tighten the B nut with the tightening torque shown in table 8-1.
7. Apply LOCTITE 243 to the thread part of the magic screws , and
then tighten them with the tightening torque shown in table 8-1.
8. Apply ThreeBond 1206C to the mounting surface of the cover .
Mount the cover by using the GT-SA bolts , and tighten them
with the tightening torque shown in table 8-1.
9. Turn ON the power supply of the YRC1000.
NOTE
Refer to chapter 2 “Notes for Maintenance” and chapter 3
“Home Position Return” .
Remove old sealing from each part before starting assem-
bling.
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