Replacement Procedure For Harmonic Drive R6Yxe400; Replacing The X-Axis Harmonic Drive; Preparation - Omron SCARA XE Series Maintenance Manual

2.
The following describes the procedures and precautions for replacing the harmonic drive.
For the bolt tightening torque in the harmonic drive replacement work, see the Table below. However,
when tightening the mounting bolts for the harmonic drive, observe the tightening torque specified in each
replacement procedure. Use only OMRON genuine bolts.
■ Bolt tightening torque
5
2.1
WARNING
Before starting the work, thoroughly read "1. Attaching, detaching, and replacing the cover" in Chapter 2.
The following shows the parts and tools necessary for the X-axis harmonic drive replacement work.

2.1.1 Preparation

1. Replacement parts
1 Harmonic drive
O-ring
2
(Supplied with the harmonic drive.)
3 O-ring
4 O-ring
5 Harmonic drive mounting bolt
6 Harmonic drive mounting bolt
7 Washer
8 Harmonic drive mounting bolt
2. Tools(Torque wrench, etc.)
CAUTION
Use accurately calibrated torque screwdrivers and torque wrenches.
Torque wrench
A
Changeable head
Torque screwdriver
B
Drive bit
5-2
Replacement procedure for harmonic drive
R6YXE400
Bolt size
M3 set screw
M4 set screw
M3
M4
M5
M6
M8
M10
Recommended "Screw thread locking agent": LOCTITE 262 (made by Henkel Corporation)

Replacing the X-axis harmonic drive

Part Name
Name Part No.
N120SPCK
230HCK4
N30LTDK
B35, opposite
side 2.5×75
Tightening torque (kgfcm)
7
17
20
46
92
156
380
720
OMRON Part No. Part No. / Specs
KDS-M2110-00
Cross section diameter: 0.99mm
KN3-M2144-00
Inside diameter: 53.28mm
Cross section diameter: 1.5mm
KN3-M2143-00
Inside diameter: 49.0mm
Cross section diameter: 1.78mm
KN4-M257K-00
Inside diameter: 72.75mm
91312-03020 M3 × 20
91312-03035 M3 × 35
92903-03600
91312-03008 M3 × 8
Manufacturer
KANON
(Nakamura Mfg. Co., Ltd.)
KANON
(Nakamura Mfg. Co., Ltd.)
KANON
(Nakamura Mfg. Co., Ltd.)
Vessel Co., Inc.
Tightening torque (Nm)
0.69
1.7
2.0
4.5
9.0
15.3
37.0
71.0
Q'ty
1
May deteriorate and must
1
be replaced
May deteriorate and must
1
be replaced
May deteriorate and must
1
be replaced
16 Must be replaced
12 Must be replaced
28 Must be replaced
4
Remarks
For M5 hex socket head bolt
Tightening torque: 7.4Nm (76kgfcm)
Wrench (without ball end) for M5 hex socket head bolt;
insert 110mm
For M3 hex socket head bolt
Tightening torque: 1.8Nm (18kgfcm)
Attachment hexagonal width across flat: 6.35mm
Overall length: 75mm
Hexagonal width across flat at tip: 2.5mm
Remarks