Yamaha YK-X Series User Manual page 135

2) Turn off the controller.
3) Place a sign indicating that the robot is being inspected, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the base front and rear covers. (See Fig. 5-2.)
6) Unplug the connectors on the X-axis motor power wire XM and resolver
wire XP in the base. Also disconnect the X-axis motor ring-tongue terminal.
CAUTION
!
Carefully remove the motor not to pinch fingers between the motor and the
base. An O-ring w is placed between the motor mating end face and the base.
Replace this O-ring with a new one. (See Fig. 5-4 and Fig. 5-6.)
On the YK600XGH and YK700XG to YK1000XG, an O-ring is placed between
the motor flange end face and the base.
7) Remove the bolts securing the motor by using a hexagon long bit and ratchet
handle, while holding the motor not to let it drop (see Fig 5-3). Items in
parentheses ( ) apply to the YK600XGH, and YK700XG to YK1000XG.
8) Pull the motor out of the base while turning the X-axis arm.
9) Remove the wave generator from the motor shaft.
The wave generator is secured with a set screw (1 piece) and keyway (see
Fig. 5-6). A spacer and bolts need to be removed for YK600XGH and
YK700XG to YK1000XG.
! CAUTION
A spacer is inserted between the wave generator and the motor, so be careful
not to lose it. No spacer is used there for the YK600XGH, and YK700XG to
YK1000XG.
WARNING
• When you remove the X-axis arm installation bolts in the next step, the X-
axis arm may come off causing a hazardous situation. Be especially careful
to keep the arm from falling when a heavy tool is attached to the arm tip. (See
Fig. 5-4.)
• Removing the X-axis arm is dangerous for just one person. Always use two
or more people, or remove the Y-axis arm in advance. Refer to "2. Y-axis" of
"5-2-1" for removing the Y-axis arm.
10) Remove the X-axis arm installation bolts by using a hexagon bit and ratchet
handle. (See Fig. 5-4).
5-13
CHAPTER 5 Periodic Inspection