Yamaha YK-X Series User Manual page 178

Replacement and reassembly
■
Follow the steps below to replace the harmonic drive with a new one and reassemble it.
Fit a new O-ring coated with
1
harmonic grease into the O-ring
groove on the X-axis arm.
Replace the harmonic drive.
2
Place the new harmonic drive on the X-axis
arm, and secure it with the bolts (M3×40, 8
pieces) you removed earlier. Apply small
amounts of "Screw Lock" to the bolts and
tighten them uniformly to secure the
harmonic drive from the backside.
c
CAUTION
Do not allow the O-ring to get caught out of the
groove during reassembly. A trouble will occur if
the robot is operated with the O-ring left caught
out of the groove.
5
Install the new O-ring supplied
3
with the harmonic drive.
Fit an O-ring (supplied with the harmonic
drive) coated with harmonic grease into the
O-ring groove on the new harmonic drive.
Secure the Y-axis arm to the
4
harmonic drive.
Apply a small amount of "Screw Lock" to the
fastening bolts (M3 x 20), and tighten the 12
bolts evenly.
c
CAUTION
Do not allow the O-ring to get caught out of the
groove during reassembly. A trouble will occur if
the robot is operated with the O-ring left caught
out of the groove.
5-12
Step 1
63480-FR-00
63481-FR-00
Step 2
Fastening the Y-axis harmonic drive to the X-axis arm
63418-FR-00
Installing the O-ring
Step 3
63419-FR-00
Never remove these temporarily tightened bolts.
The axis will otherwise deviate from center.
Step 4
Securing the Y-axis arm
X-axis arm O-ring
O-ring
(KN4-M257K-00)
M3×40
Fit O-ring (supplied) into this groove.
Harmonic drive will be damaged
if O-ring is caught out of groove.
O-ring : KN3-M2144-00
Circular spline
M3×20