Yamaha YK-X Series User Manual page 151

13) Apply the harmonic grease to the new wave generator. See Fig. 5-21 for
applying the grease.
14) Fit the O-ring t to the inner side of the new wave generator. Insert the wave
generator into the inner end of the R-axis motor shaft and secure it with the
two setscrews. (See Fig. 5-20.)
15) Apply harmonic grease to the circular spline.
See Fig. 5-21 for applying grease properly.
16) Fit a new O-ring q coated with harmonic grease into the groove of the shaft.
Apply small amounts of "Screw Lock" to the bolts you removed earlier and
tighten them to secure the new harmonic drive. Also return the panhead bolt
and nut to the original position and secure them. Apply small amounts of
"Screw Lock" to the panhead bolt. The panhead bolt tightening torque should
be 90cNm (9kgfcm). On the YK600XGH and YK700XG to YK1000XG,
also apply "Screw Lock" to the dog mounting bolt and tighten it to a torque
of 2.0Nm (20kgfcm). (See Fig. 5-19 (b).)
CAUTION
!
Do not allow the O-ring to get caught out of the groove during reassembly. A
problem will occur if the robot is operated with the O-ring left caught out of
groove.
17) Fit the O-ring w coated with harmonic grease into the O-ring groove of the
new harmonic drive. (See Fig. 5-18.)
Apply small amounts of "Screw Lock" to the bolts you removed earlier and
tighten them to secure the new harmonic drive to the Y-axis arm from the top
of the Y-axis arm. (See Fig. 5-18.)
! CAUTION
Do not allow the O-ring to get caught out of the groove during reassembly. A
problem will occur if the robot is operated with the O-ring left caught out of
groove.
18) Fit the new O-ring r coated with harmonic grease into the O-ring groove of
the Y-axis arm.
Insert the R-axis motor into the Y-axis arm while turning the R-axis. Then
tighten the bolts to secure the R-axis motor while turning the R-axis. (See
Fig. 5-17.)
! CAUTION
Do not allow the O-ring to get caught out of the groove during reassembly. A
problem will occur if the robot is operated with the O-ring left caught out of
groove.
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CHAPTER 5 Periodic Inspection