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2. Y-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)
• Torque-limiting wrench
• Replacement parts (See table below.)
Parts name
Harmonic drive
Rubber wire diameter 1.78mm x Ring inner diameter 69.57mm KN5-M2143-000
O-ring
Rubber wire diameter 1.30mm x Ring inner diameter 66.50mm KN5-M257L-000 Supplied with harmonic drive
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 Y-axis arm upper cover. Place the cover on the robot base
(pedestal) side with the machine harness still connected.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Disconnect the connectors on the Y-axis motor power cable YM and
resolver cable YP.
7) Remove the Y-axis motor installation bolts (M6×20L, 4 pieces) and then
remove the Y-axis motor by swaying it gently right and left.(See Fig. 5-41.)
Replacement parts
Type No .
SHF-25-80
S90(JIS)
Fig. 5-41
5-49
CHAPTER 5 Periodic Inspection
OMRON Parts No.
Note
KN4-M2110-001
KN4-M2143-000 Lower part of harmonic drive
For motor
M6×20
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