Omron SCARA R6Y-XC Series User Manual page 158

CHAPTER 5 Periodic Inspection
13) Remove the bolts (M4×20L, 12 pieces) securing the X-axis harmonic drive.
(See Fig. 5-21.)
14) Remove the X-axis harmonic drive from the top of the base.
CAUTION
AN O-RING IS FITTED TO THE X-AXIS HARMONIC DRIVE, SO BE
CAREFUL NOT TO LET IT DROP INTO THE BASE OR PERIPHERAL UNIT.
15) Fit an O-ring (supplied with the harmonic drive) coated with harmonic
grease into the O-ring groove on the new harmonic drive. (See Fig. 5-22.)
Apply small amounts of "Screw Lock" to the bolts (M4×20L, 12 pieces)
and tighten them to secure the harmonic drive from the backside of the
base. (See Fig. 5-21.)
CAUTION
DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE
DURING REASSEMBLY. A TROUBLE WILL OCCUR IF THE ROBOT IS
OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE.
16) Apply harmonic grease to the new wave generator and flexible spline.
See Fig. 5-22 for applying grease properly.
17) Fit a new O-ring into the O-ring groove on the X-axis arm (see Fig. 5-20)
and secure it to the harmonic drive. Then apply small amounts of "Screw
Lock" to the bolts (M4×40L, 8 pieces) you removed earlier and tighten
them uniformly to secure the X-axis arm. (See Fig. 5-19.)
CAUTION
DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE
DURING REASSEMBLY. A TROUBLE WILL OCCUR IF THE ROBOT IS
OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE.
18) Fit the spacer and wave generator onto the motor shaft, and fully insert
them against the motor. Then, apply small amounts of "Screw Lock" to
the M4 set screw (1 piece) you removed earlier and tighten it to secure the
wave generator onto the motor shaft. (See Fig. 5-22.)
Fig. 5-21
5-30
M4×20