Yamaha YK-X Series User Manual page 137

18) Place a new O-ring w in the cylindrical section of the base and push the O-
ring to the top end face. (See Fig. 5-4.)
! 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.
19) Push the X-axis motor into the base while moving the X-axis arm by hand.
Push the X-axis motor into the base while moving the X-axis arm by hand.
Uniformly tighten the four bolts by using the hexagon long bit and torque
wrench, while moving the X-axis arm by hand slowly left and right through
45°. If any jamming or catching is felt while moving the axis at this time,
then reassemble from the beginning. (See Fig. 5-3.)
20) Reattach the connectors on the X-axis motor power wire XM and resolver
wire XP. (See Fig. 5-2.) Also reattach the X-axis motor ring-tongue terminal.
21) Reattach the base (robot pedestal) front and rear covers.
22) Go outside the safeguard enclosure.
23) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
! CAUTION
After the Harmonic drive is replaced, an absolute reset must be performed, and
the standard coordinate and point data must be reset. Refer to "Chapter 4 Ad-
justment" to adjust it.
Cover
Fig. 5-2
5-15
CHAPTER 5 Periodic Inspection
Cover
The ring terminal for
the X-axis motor is
located behind the cover.
Disconnect the terminal.