Omron SCARA R6Y-XC Series User Manual page 159

Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
19) Fit the O-ring to the motor and secure the motor to the motor holder with
the bolts (M6×14L, 4 pieces) you removed earlier. (See Fig. 5-18 and
Fig. 5-22.)
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.
20) Fit a new O-ring coated with harmonic grease into the O-ring groove on the
motor holder and tighten the bolts (M6×20L, 4 pieces) you removed earlier
to temporarily secure the motor holder to the base. (See Fig. 5-18.)
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.
21) Uniformly tighten the four bolts (M6×20L) temporarily fastened in the
previous step while moving the X-axis by hand slowly left and right
through 45°. If any jamming or catching is felt while moving the axis at
this time, then reassemble from the beginning.
22) Reattach the connectors on the X-axis motor power cable XM and resolver
cable XP.
23) Reattach the base (robot pedestal) front and rear covers and the X-axis arm
upper cover.
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is caught out of groove.
O-ring : KN5-M257L-000
Apply grease to entire oldham coupling.
O-ring : KN5-M2143-000
M4 set screw
Spacer
Wave generator
Apply grease to sufficiently fill in the ball space.
Apply grease to the thickness equal to the ball diameter.
Circular spline
Fig. 5-22
5-31
CHAPTER 5 Periodic Inspection