Disassembly And Reassembly Of Wrist Unit - YASKAWA MOTOMAN-PH130F Maintenance Manual

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8

Disassembly and Reassembly of Wrist Unit

8 Disassembly and Reassembly of Wrist Unit
• Refer to fig. 8-1 "Disassembly and Reassembly of Wrist Unit" .
Refer to chapter 2 "Notes for Maintenance" and chapter 3
"Home Position Return" .
NOTE
Remove old sealing from each part before starting assem-
bling.
 Disassembly
1. Make the wrist a 90° angle to the U-arm (refer to fig. 8-1 "Disassembly
and Reassembly of Wrist Unit" ), and then, turn OFF the power supply
of the YRC1000.
2. Unscrew the GT-SA bolts
3. Unscrew the magic screws
4. Remove the gear
5. Unscrew the hexagon socket head cap screws
wrist unit from the speed reducer
1
the wrist base
Reassembly

1. Apply sealing bond ThreeBond 1206C to the contact surface of the
wrist unit and the speed reducer
1
on the speed reducer
1
the speed reducer
.
1
2. Tighten the hexagon socket head cap screws
torque shown in table 8-1 "Wrist Unit Parts Checklist" .
3. Mount the retaining ring
4. Mount the gear
5. Measure the backlash in the gear
small micrometer and determine the number of shims so that the
backlash is 0.05 mm to 0.1 mm in the gear pitch diameter.
6. Tighten the B nut
7. Apply LOCTITE 243 to the thread part of the magic screws
then tighten them with the tightening torque shown in table 8-1.
8. Apply ThreeBond 1206C to the mounting surface of the cover
Mount the cover
with the tightening torque shown in table 8-1.
9. Turn ON the power supply of the YRC1000.
, and then remove the cover
6
and remove the B nut
7
. (Be sure not to lose the shim
9
4
.
2
4
. At this time, mount the wrist unit
4
with the gear
4
9
and bearing
12
and shim on the wrist unit
9 10
and adjust the shim. Use a
9
with the tightening torque shown in table 8-1.
8
by using the GT-SA bolts
5
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8-1
.
5
.
8
).
10
, and remove the
3
by using the tapped holes on
, and then mount the wrist unit
not mounted to the wrist unit
with the tightening
3
on the gear .
11 9
.
1
, and
7
, and tighten them
6
on
1
.
5
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