Table of Contents
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Chapter 5
Replacing the harmonic drive
1. Cautions on replacement of the harmonic drive
2. Replacement procedure for harmonic drive R6YXE400 5-2
2.1
Replacing the X-axis harmonic drive
2.1.1
Preparation
2.1.2
Removal
2.1.3
Replacement and reassembly
2.1.4
Aging
2.2
Replacing the Y-axis harmonic drive
2.2.1
Preparation
2.2.2
Removal
2.2.3
Replacement and reassembly
2.2.4
Aging
3. Replacement procedure for harmonic drive R6YXE610 R6YXE710 5-20
3.1
Replacing the X-axis harmonic drive
3.1.1
Preparation
3.1.2
Removal
3.1.3
Replacement and reassembly
3.1.4
Aging
3.2
Replacing the Y-axis harmonic drive
3.2.1
Preparation
3.2.2
Removal
3.2.3
Replacement and reassembly
3.2.4
Aging
Contents
5-1
5-2
5-2
5-3
5-6
5-10
5-11
5-11
5-12
5-14
5-19
5-20
5-20
5-21
5-24
5-29
5-30
5-30
5-31
5-34
5-39
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