Omron SCARA R6Y-XC Series User Manual page 185

13) Apply harmonic grease to the new wave generator. See Fig. 5-51 for
applying grease properly.
Apply grease to sufficiently fill in the ball space.
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
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
14) Insert the new wave generator into the Y-axis arm from the bottom, and
secure it with the retaining ring. The chamfered side of the retaining ring
should face downwards.
15) Apply harmonic grease to the circular spline.
See Fig. 5-51 for applying grease properly.
16) 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. 5-51.)
Apply small amounts of "Screw Lock" to the bolts (M3×30L, 13 pieces)
and tighten them to secure the harmonic drive to the Y-axis arm from the
top of the Y-axis arm. (See Fig. 5-50.)
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.
17) 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. 5-50.)
18) Fit the timing belt onto the wave generator pulley and motor pulley, and
then secure the motor plate. (See Fig. 5-50.)
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.
Wave generator
Fig. 5-51
5-57
CHAPTER 5 Periodic Inspection
Retaining ring groove
Apply grease to entire oldham coupling.
Apply grease to the thickness equal to the
ball diameter.
Circular spline