Replacement Procedure For Harmonic Drive R6Yxe610 R6Yxe710; Replacing The X-Axis Harmonic Drive; Preparation - Omron SCARA XE Series Maintenance Manual

3.
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
3.1
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.

3.1.1 Preparation

1. Replacement parts
1 Harmonic drive
2 O-ring
3 O-ring
4 O-ring
5 Harmonic drive mounting bolt
6 Harmonic drive mounting bolt
7 Harmonic drive mounting bolt
8 Harmonic drive mounting bolt
9 Motor holder fixing bolt
10 Washer
11 Washer
12 Harmonic drive mounting bolt
5-20
Replacement procedure for harmonic drive
R6YXE610 R6YXE710
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
Tightening torque (kgfcm)
7
17
20
46
92
156
380
720
OMRON Part No. Part No. / Specs
KBP-M2510-00
KN4-M2143-00 S90(JIS)
Cross section diameter: 1.78mm
90990-17J030
Inside diameter: 66.4mm
Cross section diameter: 1.30mm
KN5-M257L-00
Inside diameter: 66.5mm
91312-04040 M4 × 40
91312-04030 M4 × 30
91312-04020 M4 × 20
91312-03022 M4 × 22
91312-05025 M5 × 25
92902-03200 M3
92902-04600 M4
91312-03008 M3 × 8
Tightening torque (Nm)
0.69
1.7
2.0
4.5
9.0
15.3
37.0
71.0
Q'ty Remarks
1
May deteriorate and must
1
be replaced
May deteriorate and must
1
be replaced
Attached to harmonic
1
drive
10 Must be replaced
2 Must be replaced
16 Must be replaced
4 Must be replaced
8 Must be replaced
4 Must be replaced
26 Must be replaced
4