Yamaha YK-X Series User Manual page 136

CHAPTER 5 Periodic Inspection
11) Remove the X-axis arm and place it where it will not obstruct the work.
12) Remove the bolts securing the X-axis harmonic drive and also remove the
panhead bolt along with the nut. (See Fig. 5-5.)
13) Remove the X-axis harmonic drive from the X-axis arm.
! CAUTION
An O-ring q is fitted to the X-axis arm. Replace this O-ring with a new one.
14) Fit a new O-ring q coated with harmonic grease into the O-ring groove of
the X-axis arm (See Fig. 5-5.). Grease to the O-ring is to prevent the O-ring
from coming off, so a small amount is enough.
Apply small amounts of "Screw Lock" to the bolts you removed earlier and
tighten them to secure the new harmonic drive to the X-axis arm. Also return
the panhead bolt and nut to the original position and secure them (See Fig. 5-
5.). Apply small amounts of "Screw Lock" to the panhead bolt. See 1-2 in 3-
4-1-1 for the panhead bolt tightening and tighten the bolt to the specified
torque.
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.
15) Apply harmonic grease to the new wave generator and flexible spline.
See Fig. 5-7 for applying grease properly.
16) Fit a new O-ring e coated with harmonic grease into the O-ring groove of
the harmonic drive. Apply small amount of "Screw Lock" to the positioning
bolts, then fix the harmonic drive to the base with 16 pieces of bolt by using
hexagon bit and torque wrench (see Fig. 5-5 and Fig. 5-7). Tighten the bolts
to the specified torque.
! 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.
17) Fit the spacer and wave generator onto the motor shaft, and fully insert them
against the motor. Then, apply small amounts of "Screw Lock" to the set
screw (1 piece) you removed earlier and tighten it to secure the wave genera-
tor onto the motor shaft (see Fig. 5-6). For 600XGH and YK700XG to
YK1000XG, the wave generator need to be fixed with M5 bolts and spacers
prior to this step.
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