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HP20D
6.5
6
Disassembly and Reassembly of Speed Reducer
6.5 Disassembly and Reassembly of B-Axis Speed Reducer
Disassembly and Reassembly of B-Axis Speed Reducer
• Refer to Fig. 6-5 "Disassembly and Reassembly of B-Axis Speed
Reducer".
Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the GT-SA bolts , then remove the covers .
3. Loosen the GT-SA bolts
the timing belt .
5
4. Remove the GT-SA bolts . Then, remove the pulley , the
housing , the wave generator , and the bearings
15
5. Remove the hexagon socket head cap screw , then remove the
pulley .
6
6. Remove the GT-SA bolts , then remove the circular spline .
7. Remove the GT-SA bolts , then remove the flex spline .
Reassembly
1. Mount the flex spline
1
2. Tighten the GT-SA bolts
6-5 "B-Axis Speed Reducer Parts Checklist".
3. Apply Harmonic Grease SK-1A on the surface between the teeth of
the circular spline
and the flex spline . Apply ThreeBond 1206C on
2
the matching surface between the circular spline
Then, mount the circular spline
4. Tighten the GT-SA bolts
6-5 "B-Axis Speed Reducer Parts Checklist".
5. Apply Harmonic Grease SK-1A on the bearing part of the wave
generator . Press-fit the bearings
3
housing
and the pulley . (When replacing the speed reducer,
15
replace the bearings
8
6. Apply Loctite 242 to the thread part of the hexagon socket head cap
screw . Then, tighten it with the tightening torque shown in Table 6-5
7
"B-Axis Speed Reducer Parts Checklist".
7. Insert the wave generator
base.
8. Tighten the GT-SA bolts
6-5 "B-Axis Speed Reducer Parts Checklist".
9. Put the timing belt
on the pulley .
5
10. Adjust the initial tension of the timing belt
Then, tighten the GT-SA bolts
Table 6-5 "B-Axis Speed Reducer Parts Checklist". (Refer to chapter 8
"Disassembly, Reassembly, and Adjustment of B- and T-axis Timing
Belts".)
11. Remove the old sealing bond on the covers
ThreeBond 1206C on the matching surface between the covers
the U-arm. Then, mount the covers
12. Tighten the GT-SA bolts
6-5 "B-Axis Speed Reducer Parts Checklist".
6-9
11
which fix the B-axis motor. Then, remove
14
9
3
7
4
13
on the wrist base.
with the tightening torque shown in Table
13
1
on the U-arm.
2
with the tightening torque shown in Table
4
and
. Then, mount the
8
12
6
and
too.)
12
assembled at the step 5 above in the wrist
3
with the tightening torque shown in Table
9
6
to the designated tension.
5
with the tightening torque shown in
14
and the U-arm. Apply
10
on the U-arm.
10
with the tightening torque shown in Table
11
HW1480357
159281-1CD
10
6
and
.
8
12
2
1
and the U-arm.
2
and
10
60 of 96
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