YASKAWA YR-HP0020D-A00 - Disassembly and Reassembly of T-Axis Speed Reducer

6-12
159281-1CD
HW1480357
HP20D
6 Disassembly and Reassembly of Speed Reducer
6.6 Disassembly and Reassembly of T-Axis Speed Reducer
6.6 Disassembly and Reassembly of T-Axis Speed Reducer
• Refer to Fig. 6-6 “Disassembly and Reassembly of T-Axis Speed
Reducer”.
 Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the GT-SA bolts , then remove the right side part from the
point “A” in chapter 6-6 “Disassembly and Reassembly of T-Axis
Speed Reducer”.
3. Remove the circular spline from the flange.
4. Remove the GT-SA bolts , then, remove the flex spline .
5. Remove the GT-SA bolts . Then, remove the housing from the
wrist base.
6. Remove the hexagon socket head cap screw , and remove the
gear and the shim . Then, pull out the wave generator .
 Reassembly
1. Apply Harmonic Grease SK-1A to the bearing of the wave
generator . Then, insert the wave generator in the housing .
2. Mount the shim and the gear .
3. Apply Loctite 242 to the thread part of the hexagon socket head cap
screw . Then, tighten it with the tightening torque shown in Table 6-6
"T-Axis Speed Reducer Parts Checklist".
4. Mount the housing (the assembly prepared in the steps 1 to 3
above) on the wrist base.
5. Temporarily tighten the GT-SA bolts .
6. Check if the backlash is proper, and adjust the shim as follows when
necessary: Remove the GT-SA bolt , then remove the housing .
Adjust the backlash by inserting the shim(s) on the list below between
the gear and the wave generator . Set the backlash to 0.05 to 0.1
mm on the gear’s pitch circle diameter of 52.5 mm.
7. Confirm the backlash is correct. Then, remove the GT-SA bolts
again, and remove the housing . Apply Harmonic Grease SK-1A on
the teeth of the gear .
8. Apply ThreeBond 1206C on the matching surface between the
housing and the wrist base. Then, mount the housing on the wrist
base. Tighten the GT-SA bolts with the tightening torque shown in
Table 6-6 "T-Axis Speed Reducer Parts Checklist".
9. Mount the flex spline on the flange.
10. Tighten the GT-SA bolts with the tightening torque shown in Table
6-6 "T-Axis Speed Reducer Parts Checklist".
10
2
4
1
5
6
8
7
9
3
Shim Type Thickness (mm)
SP012010 0.1
SP012015 0.15
SP012020 0.2
SP012050 0.5
3
3
6
9
7
8
6
5
5
6
7
3
5
6
7
6
6
5
1
4
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