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5-2-2
R6YXC500, R6YXC600
The following steps describe procedures and precautions when replacing the
harmonic drives of the R6YXC500 and R6YXC600.
For the bolt tightening torques in this work, refer to Table 5-2.
1. X-axis
1) Prepare the following tools and items.
• Harmonic grease 4B No.2
• Waste cloth (rag)
• Phillips-head screwdriver
• Hex wrench set
• Screw Lock (thread sealant)
• Ratchet handle
• Hexagonal socket set
• Extension bar
• Torque-limiting wrench
• Replacement parts (See table below.)
Parts name
Harmonic
O-ring
2) Turn off the controller.
3) Place a sign indicating that the robot is being inspected, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the base (robot pedestal) front and rear covers and the X-axis arm
upper cover.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Disconnect the connectors on the X-axis motor power cable XM and
resolver cable XP.
Replacement parts
Type No .
SHF-25-80
S90(JIS)
Rubber wire diameter 1.78mm x Ring inner diameter 85.00mm
Rubber wire diameter 1.78mm ´ Ring inner diameter 85.00mm
Rubber wire diameter 1.78mm x Ring inner diameter 69.57mm
Rubber wire diameter 1.78mm ´ Ring inner diameter 69.57mm
Rubber wire diameter 1.30mm x Ring inner diameter 66.50mm
Rubber wire diameter 1.30mm ´ Ring inner diameter 66.50mm
5-27
CHAPTER 5 Periodic Inspection
YAMAHA Parts No .
Note
OMRON Parts No.
KN4-M2110-001
KN4-M2143-000
Top of harmonic drive
KN4-M2159-000
Base (robot pedestal)
KN5-M2143-000
Motor
KN5-M257L-000
Supplied with harmonic drive
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