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4.
Replacement procedure for harmonic drive
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 YAMAHA genuine bolts.
Bolt tightening torque
■
Bolt size
M3 button head bolt
M4 set screw
M3
M4
M5
M6
M8
M10
4.1
YK500XC, YK600XC
4.1.1
Replacing the X-axis harmonic drive
w
WARNING
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement.
The following shows the parts and tools necessary for the X-axis harmonic drive replacement work.
1.
Replacement parts
Part Name
1
Harmonic drive
2
O-ring
3
O-ring
4
O-ring
5
O-ring
2.
Tools
Name
Harmonic grease
Cleaning wipe
Phillips screwdriver
Hex wrench set
Screw thread locking agent
Ratchet handle
Hexagonal socket set
Extension bar
Torque wrench
Tightening torque (kgfcm)
14
20
20
46
92
156
380
720
Recommended "Screw Lock": LOCTITE 262 (made by Henkel Corporation)
YAMAHA Part No.
Part No. / Specs
KN4-M2110-00
SHF-25-80
KN4-M2143-00
S90(JIS)
Cross section diameter: 1.78mm
KN4-M2159-00
Inner diameter: 85.00mm
Cross section diameter: 1.78mm
KN5-M2143-00
Inner diameter: 69.57mm
Cross section diameter: 1.30mm
KN5-M257L-00
Inner diameter: 66.50mm
Part No.
Manufacturer
4B No.2
Harmonic Drive Systems
Loctite 262
Henkel
Tightening torque (Nm)
1.4
2.0
2.0
4.5
9.0
15.3
37
71
Q'ty
Remarks
1
1
Top of harmonic drive
1
Base (robot pedestal)
1
Motor
1
Supplied with harmonic drive
Remarks
Do not use grease if it was purchased 4 or more
years ago. The grease has probably deteriorated.
High strength type (red)
5
5-3
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