Omron SCARA R6Y-XC Series User Manual page 164

CHAPTER 5 Periodic Inspection
18) Fit the wave generator onto the motor shaft, and fully insert it 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. (See
Fig. 5-27.)
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
19) Fit a new O-ring to the motor and tighten the bolts (M5×14L, 4 pieces) you
removed earlier to temporarily secure the motor to the Y-axis arm. (See
Fig. 5-23 and Fig. 5-27.)
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 GROOVE.
20) Uniformly tighten the four bolts (M5×12L) temporarily fastened in the
previous step while moving the Y-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.
21) Reattach the connectors on the Y-axis motor power cable YM and resolver
cable YP.
22) Reattach the Y-axis arm upper cover.
23) Go outside the safeguard enclosure.
24) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
CAUTION
AFTER THE HARMONIC DRIVE IS REPLACED, AN ABSOLUTE RESET
MUST BE PERFORMED, AND THE STANDARD COORDINATE AND
POINT DATA MUST BE RESET. REFER TO "CHAPTER 4 ADJUSTMENT"
TO ADJUST IT.
Fit O-ring (supplied) into this groove
Harmonic drive will be damaged if O-ring is caught out of groove.
O-ring : KN3-M2144-000
M4 set screw
Apply grease to entire oldham coupling.
O-ring : KN3-M2143-000
Wave generator
Apply grease to sufficiently fill in the ball space.
Apply grease to the thickness equal to the ball diameter.
Circular spline
Fig. 5-27
5-36