Omron SCARA R6Y-XC Series User Manual page 169

18) Apply small amounts of "Screw Lock" to the M4 set screws (2 pieces) and
tighten them to secure the pulley to the wave generator. (See Fig. 5-32.)
19) Fit the timing belt onto the wave generator pulley and motor pulley, and
then secure the motor plate. (See Fig. 5-32.)
CAUTION
IT IS NECESSARY TO APPLY CORRECT TENSION TO THE TIMING BELT
DURING REASSEMBLY. REFER TO "8 ADJUSTING THE TIMING BELT
TENSION" IN CHAPTER 4.
20) Fit a new O-ring into the O-ring groove on the fastening plate and also
replace the edge seal with new one. Then secure the fastening plate to the
harmonic drive with the bolts (M3×25L, 8 pieces) you removed earlier.
(See Fig. 5-30 and Fig. 5-34.)
At this point, be careful to keep the spline shaft from coming off the spline
nut.
CAUTION
THE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE EDGE
SEAL EFFECT IS INSUFFICIENT, SO CAREFULLY REASSEMBLE THE
PARTS.
21) Insert the bearing mount plate and bearing onto the spline from the top, and
tighten the U-nut to secure the baring. (Utilize the φ7 through-hole when
tightening the U-nut like you did to loosen it.) (See Fig. 5-29.)
22) Insert the spline and bearing through the holder and secure them with the
bolts you removed earlier (M5×16L, 4 pieces). (See Fig. 5-28.)
23) Reattach the Y-axis arm upper cover.
24) Go outside the safeguard enclosure.
25) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
O-ring : KN4-M1896-000
Edge seal
Fastening plate
Spline nut
Spline shaft
5-41
CHAPTER 5 Periodic Inspection
Fig. 5-34