Yamaha YK-X Series User Manual page 208

Attach the harmonic drive to the Y-axis arm.
5
From the top of the Y-axis arm, using bolts (M4 x 45, 12 pieces) with a small amount of "Screw Lock"
applied, attach the harmonic drive to the Y-axis arm. (See the figure below.)
c
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 the groove.
Secure the pulley to the wave generator.
6
Apply small amounts of "Screw Lock" to the bolts (M3×30, 4 pieces) and tighten them to secure the
pulley to the wave generator.
Secure the motor plate.
7
Fit the timing belt onto the wave generator pulley and motor pulley, and then secure the motor plate.
5
c
CAUTION
When securing the timing belt, the belt tension must be adjusted properly. See "7. Adjusting the timing belt
tension" in Chapter 3 for how to adjust the belt tension.
Replace the O-ring and end face
8
seal of the fastening plate with new
parts, and fit them to the harmonic
drive.
Fit a new O-ring into the O-ring groove on
the fastening plate and also replace the
end face seal with new one. Then, secure
the fastening plate to the harmonic drive
with the bolts (M4×30, 8 pieces) coated with
small amounts of "Screw Lock".
At this point, be careful to keep the spline
shaft from coming off the spline nut.
c
CAUTION
The harmonic drive service life may shorten if the
end face seal effect is insufficient, so carefully
reassemble the parts.
5-42
Step 5-7 Attaching the harmonic drive
M4×45
M3×30
Pulley
M4×30
Shaft fastening plate
M5×20
Spline support shaft
Spline
M6×20
Installing the fastening plate
Step 8
O-ring :
KN4-M2143-00
63470-FR-00
63469-FR-00
End face seal
Fastening plate
Spline nut
Spline shaft
63471-FR-00