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

176183-1CD
MH5S (II) /MH5F
6.4
6 Disassembly and Reassembly of Speed Reducer

6.4 Disassembly and Reassembly of R-Axis Speed Reducer

Disassembly and Reassembly of R-Axis Speed Reducer
• Refer to Fig. 6-4 "Disassembly & Reassembly of the R-Axis Speed
Reducer".
Disassembly

1. Turn OFF the DX100/DX200/FS100 power supply.
2. Connect the backup batteries with the R-, B- and T-axes motors. After
disconnect all the cables connected to the internal wiring harness, pull
out the internal wiring harness to the S-head side. (Refer to Chapter
10 "Cable Wiring".)
3. Remove the R-axis motor. (Refer to section 5.4 "Disassembly and
Reassembly of the R-Axis Motor".)
4. Unscrew the GT-SA bolts
belt hung on the pulley
11
Reassembly of R-Axis Timing Belt".)
5. Unscrew the hexagon socket head cap screws
unit from the casing. (Refer to Chapter 7 "Disassembly and
Reassembly of Wrist Unit".)
6. Unscrew the GT-SA bolts
washer from the wave generator
8
7. Unscrew the hexagon socket head cap screws
housing from the circular spline/ flex spline
7
for the housing
8. Pull out the wave generator
9. Unscrew the hexagon socket head cap screws
circular spline/ flex spline
10. Remove old sealing from each parts.
 Reassembly
1. Apply ThreeBond 1206C to the matching face between the circular
spline/ the flex spline
spline/ the flex spline
2. Attach the conical spring washers to the hexagon socket head cap
screws and apply ThreeBond 1206C to the thread parts. Then
3
tighten them with the tightening torque shown in Table 6-4 "R-Axis
Speed Reducer Parts Checklist".
3. Press fit the bearings
ThreeBond 1206C to the joint part of the inside walls of the
bearings (application amount: about 1 g). (When replace the
4 5
speed reducer, replace the bearings
4. Insert the wave generator
(Apply Harmonic Grease SK-1A to the bearing of the wave
generator (application amount: about 2 g).) (When insert the wave
2
generator , apply ThreeBond 1206C to the joint part of the outside
2
wall of the bearing
5. Apply ThreeBond 1206C to the matching face between the housing
and the circular spline/ the flex spline
on the circular spline/ the flex spline
apply ThreeBond 1206C to the joint part of the outside wall of the
bearing (application amount: about 1 g).)
4
and remove the pipe
13
. (Refer to section 8.2 "Disassembly and
12
and remove the pulley
9
.
2
.
7
with the bearings
2
from the U-arm.
1
and the U-arm. Then mount the circular
1
on the U-arm.
1
into the wave generator
4 5
4
in the circular spline/ the flex spline
2
(application amount: about 1 g).)
5
1
. (When mount the housing
1
HW1483638
6-12
. Then remove the
14
and remove the wrist
10
and the
12
. Then remove the
6
with the removal tap
1
.
4 5
and remove the
3
. Apply
2
too.)
5
. Then mount the housing
.
1
7
7
,
7
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