Disassembly And Reassembly Of Wrist Unit - YASKAWA MOTOMAN-HP20D Maintenance Manual

HP20D
7

Disassembly and Reassembly of Wrist Unit

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7 Disassembly and Reassembly of Wrist Unit
• Refer to Fig. 7-1 "Disassembly and Reassembly of Wrist Unit".
Refer to chapter 2 "Notes for Maintenance", chapter 3
NOTE
"Home Position Return", and chapter 10 "Cable Wiring".
Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the GT-SA bolts , then remove the cover .
3. Connect backup batteries to the B- and T-axis motors.
4. Disconnect the connectors of the B- and T-axis internal wiring harness.
5. Remove the GT-SA bolts , and remove the support . Then, cut off
the cable tie which fixes the B- and T-axis internal wiring harness.
6. Remove the hexagon socket head cap screws , then remove the
wrist unit .
1
Reassembly
1. Run the B- and T-axis internal wiring harness through the wrist unit ,
then fix the wrist unit
1
2. Tighten the hexagon socket head cap screws
torque shown in Table 7-1 "Wrist Unit Parts Checklist".
3. Fix the white-marked part of the B- and T-axis internal wiring harness
to the support with a cable tie.
3
4. Mount the support on the wrist unit
3
5. Tighten the GT-SA bolts
7-1 "Wrist Unit Parts Checklist".
6. Connect the B- and T-axis internal wiring harness to the B- and T-axis
motor connectors, then remove the backup batteries. (Refer to
chapter 10 "Cable Wiring".)
7. Apply ThreeBond 1206C on the matching surface between the
cover and the wrist unit . Then, mount the cover
5
unit with the GT-SA bolts .
1
8. Tighten the GT-SA bolts
7-1 "Wrist Unit Parts Checklist".
9. Turn ON the DX100 power supply.
7-1
6
4
2
with the hexagon socket head cap screws .
with the tightening
2
with the GT-SA bolts .
1
with the tightening torque shown in Table
4
1
6
with the tightening torque shown in Table
6
HW1480357
159281-1CD
5
3
1
2
4
on the wrist
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