Basic Replacement Procedure For Harmonic Drive And Precautions - Yamaha YK-X Series User Manual

CHAPTER 5 Periodic Inspection
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Basic replacement procedure for harmonic drive and precautions

Basic procedures and precautions for replacing the harmonic drive are described
below. Before beginning the replacement work, always be sure to read these re-
placement procedures and caution.
WARNING
• The motor and speed reduction gear casing are extremely hot after auto-
matic operation, so burns may occur if these are touched. Before touching
these parts, turn off the controller, wait for a while and check that the tem-
perature has cooled.
• When removing the wave generator from the motor shaft or reinstalling it
back onto the motor shaft, use caution to avoid as much as possible, apply-
ing a thrust load to the motor shaft. If a load is applied, the resolver may be
damaged resulting in a hazardous situation of the robot trouble.
WARNING
Precautions when handling harmonic grease, cleaning oil:
• Inflammation may occur if they get in the eyes.
Before handling them, wear your safety goggles to ensure they will not come
in contact with the eyes.
• Inflammation may occur if they come into contact with skin. Be sure to wear
protective gloves to prevent contact with skin.
• Do not take orally or eat. (Eating will cause diarrhea and vomiting.)
• Hands and fingers might be cut when opening the container, so use protec-
tive gloves.
• Keep out of the reach of children.
• Do not heat them or place near an open flame since this could lead to sparks
and fires.
Emergency Treatment:
• If they get in the eyes, wash liberally with pure water for about 15 minutes
and consult a physician for treatment.
• If they come in contact with the skin, wash away completely with soap and
water.
• If taken internally, do not induce vomiting but promptly consult a physician for
treatment.
Disposing of harmonic grease, cleaning oil and the container:
• Proper disposal is compulsory under federal, state and local regulations. Take
appropriate measures in compliance with legal regulations.
• Do not pressurize the empty container. Pressurizing may cause the con-
tainer to rupture.
• Do not attempt to weld, heat up, drill holes or cut this container. This might
cause the container to explode and the remaining materials inside it to ignite.
! CAUTION
The harmonic drive service life may shorten if the grease recommended by
YAMAHA is not used.
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