Disassembly And Reassembly Of T-Axis Speed Reducer - YASKAWA MOTOMAN-HP20D Maintenance Manual

159281-1CD
HP20D
6.6
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6 Disassembly and Reassembly of Speed Reducer

6.6 Disassembly and Reassembly of T-Axis Speed Reducer

Disassembly and Reassembly of T-Axis Speed Reducer
• Refer to Fig. 6-6 "Disassembly and Reassembly of T-Axis Speed
Reducer".
Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the GT-SA bolts , then remove the right side part from the
point "A" in chapter 6-6 "Disassembly and Reassembly of T-Axis
Speed Reducer".
3. Remove the circular spline
4. Remove the GT-SA bolts , then, remove the flex spline .
5. Remove the GT-SA bolts . Then, remove the housing
wrist base.
6. Remove the hexagon socket head cap screw , and remove the
gear and the shim . Then, pull out the wave generator .
7 9
Reassembly
1. Apply Harmonic Grease SK-1A to the bearing of the wave
generator . Then, insert the wave generator
3
2. Mount the shim and the gear .
9
3. Apply Loctite 242 to the thread part of the hexagon socket head cap
screw . Then, tighten it with the tightening torque shown in Table 6-6
8
"T-Axis Speed Reducer Parts Checklist".
4. Mount the housing (the assembly prepared in the steps 1 to 3
6
above) on the wrist base.
5. Temporarily tighten the GT-SA bolts .
6. Check if the backlash is proper, and adjust the shim as follows when
necessary: Remove the GT-SA bolt , then remove the housing .
Adjust the backlash by inserting the shim(s) on the list below between
the gear and the wave generator . Set the backlash to 0.05 to 0.1
7
mm on the gear's pitch circle diameter of 52.5 mm.
Shim Type
SP012010
SP012015
SP012020
SP012050
7. Confirm the backlash is correct. Then, remove the GT-SA bolts
again, and remove the housing . Apply Harmonic Grease SK-1A on
the teeth of the gear .
7
8. Apply ThreeBond 1206C on the matching surface between the
housing and the wrist base. Then, mount the housing
6
base. Tighten the GT-SA bolts
Table 6-6 "T-Axis Speed Reducer Parts Checklist".
9. Mount the flex spline
1
10. Tighten the GT-SA bolts
6-6 "T-Axis Speed Reducer Parts Checklist".
6-12
10
from the flange.
2
4
5
8
in the housing .
3
7
5
5
3
Thickness (mm)
0.1
0.15
0.2
0.5
6
with the tightening torque shown in
5
on the flange.
with the tightening torque shown in Table
4
HW1480357
1
from the
6
3
6
6
5
on the wrist
6
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