Disassembly And Reassembly Of Wrist Unit - YASKAWA MOTOMAN-MH5S Maintenance Manual

176183-1CD
MH5S (II) /MH5F
7

Disassembly and Reassembly of Wrist Unit

7 Disassembly and Reassembly of Wrist Unit
• Refer to Fig. 7-1 "Disassembly & Reassembly of Wrist Unit".
Refer to the following chapters in this manual as needed:
NOTE Chapter 2 "Notes for Maintenance", Chapter 3 "Home
Position Return", Chapter 5 "Disassembly and Reassembly
of the Motor" and Chapter 10 "Cable Wiring".
 Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Unscrew the hexagon socket button head screws
cover .
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3. Connect backup batteries with the B- and T-axes motors.
4. Disconnect the connectors of the B- and T-axes connected to the
internal wiring harness.
5. Unscrew the pan-head sems screws
and disconnect the connected internal wiring harness and the air
hoses.
6. Unscrew the hexagon socket button head screws
cover . Unscrew the GT-SA bolts
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harness to the casing side. (Refer to chapter 10.)
7. Unscrew the GT-SA bolts
8. Remove the R-axis motor
Reassembly of the R-Axis Motor".)
9. Remove the timing belt
Reassembly of R-Axis Timing Belt".)
10. Unscrew the hexagon socket head cap screws
tap, remove the wrist unit.
11. Remove old sealing from each parts.
 Reassembly
1. Apply Three Bond 1206C to the matching face between the casing and
the wrist unit .
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2. Mount the wrist unit
3. Attach the conical spring washers to the hexagon socket head cap
screws and apply Three Bond 1206C to their thread parts. Then
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tighten them with the tightening torque shown in Table 7-1 "Wrist Unit
Parts Checklist".
4. Mount the R-axis motor
5. Put the timing belt
6. Mount the pipe
torque shown in Table 7-1.
7. Connect the internal wiring harness to wire. (Refer to chapter 10.)
8. Tighten the GT-SA bolts
Table 7-1.
9. Remove the backup batteries from the B- and T-axes motors.
, pull out the connected base
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and pull out the internal wiring
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and remove the pipe
5
. (Refer to section 5.4 "Disassembly and
6
. (Refer to section 8.2 "Disassembly and
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on the casing.
1
. (Refer to section 5.4.)
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on the pulley . (Refer to section 8.2.)
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and tighten the GT-SA bolts
4
with the tightening torque shown in
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HW1483638
7-1
and remove the
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and remove the
3
.
4
. With the removal
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with the tightening
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