Disassembly And Reassembly Of Speed Reducer; Disassembly And Reassembly Of S-Axis Speed Reducer - YASKAWA MOTOMAN-MH5S Maintenance Manual

MH5S (II) /MH5F
6

Disassembly and Reassembly of Speed Reducer

6.1
6 Disassembly and Reassembly of Speed Reducer

6.1 Disassembly and Reassembly of S-Axis Speed Reducer

Disassembly and Reassembly of S-Axis Speed Reducer
• Refer to Fig. 6-1 "Disassembly & Reassembly of the S-Axis Speed
Reducer".
 Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Connect the backup batteries with the S-, L-, U-, R-, B- and T-axes
motors. After disconnect all the cables connected to the internal wiring
harness, remove the internal wiring harness from the manipulator.
(Refer to Chapter 10 "Cable Wiring".)
3. Remove the S-axis motor. (Refer to section 5.1 "Disassembly and
Reassembly of the S-Axis Motor".)
4. Unscrew the GT-SA bolts
the shaft .
3
5. Unscrew the GT-SA bolts
6. Unscrew the hexagon socket head cap screws
gear .
7
7. Unscrew the hexagon socket head cap screws
base from the S-head with the removal tap for the base.
8. Remove the bearing
9. Unscrew the hexagon socket head cap screws
circular spline/ the flex spline
10. Remove the wave generator
and the oil seal
11. Remove old sealing from each parts.
 Reassembly
1. Mount the oil seal
2. Apply ThreeBond 1206C to the matching face between the circular
spline/ the flex spline
spline/ the flex spline
3. Attach the conical spring washers to the hexagon socket head cap
screws and tighten them with the tightening torque shown in
12
Table 6-1 "S-Axis Speed Reducer Parts Checklist".
4. Press fit the bearing
speed reducer, replace the bearings
5. Apply Harmonic Grease SK-1A to the bearing of the wave
generator . Then insert the wave generator
14
the flex spline
13
6. Press fit the bearing
on one side. Turn the sealing side to the gear (the base side) and the
non-sealing side to the S-head.)
7. Mount the collar
8. Apply ThreeBond 1206C to the matching face between the circular
spline/ the flex spline
the flex spline
13
and remove the M-base
1
and remove the support B
5
from the M-base.
11
from the S-head.
13
from the bearing
14
from the S-head as well.
16
on the S-head.
16
and the S-head. Then mount the circular
13
on the S-head.
13
into the wave generator
15
11 15
.
into the base. (The bearing
11
on the gear . Then mount them on the S-base.
7
17
and the base. Then mount the circular spline/
13
on the base.
6-1
176183-1CD
together with
2
.
6
and remove the
4
. Then detach the
8
and remove the
12
and the bearing
15
. (When replace the
14
too.)
in the circular spline/
14
has the sealing
11
HW1483638
15
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