Yamaha YK-X Series User Manual page 149

3. R-axis
1) Prepare the following tools and items.
• Harmonic grease 4B No.2
• Waste cloth (rag)
• Phillips screwdriver
• Hex wrench set
• Screw Lock (thread sealant)
• Torque wrench
• Hook wrench
• Replacement parts (See table below.)
YK500XG, YK600XG
Parts name
Harmonic drive
q Rubber wire diameter 1.78mm × Ring inner diameter 63.22mm
w Rubber wire diameter 0.80mm × Ring inner diameter 45.40mm
e Rubber wire diameter 1.00mm × Ring inner diameter 35.3mm
O-ring
r Rubber wire diameter 1.00mm × Ring inner diameter 46.00mm
t Rubber wire diameter 0.60mm × Ring inner diameter 22.00mm
Edge seal
YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG
Parts name
Harmonic drive
q S71(JIS)
w Rubber wire diameter 0.99mm × Ring inner diameter 53.28mm
e Rubber wire diameter 1.00mm × Ring inner diameter 43.00mm
O-ring
r Rubber wire diameter 1.30mm × Ring inner diameter 53.00mm
t Rubber wire diameter 0.5mm × Ring inner diameter 28.00mm
Edge seal
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 cover. (See Fig. 5-13.)
Unplug the connectors on the R-axis motor power wire RM and resolver
wire RP in the Y-axis arm. Also disconnect the R-axis motor ring-tongue
terminal.
WARNING
The Z-axis will slide down when the bearing mounting bolts are removed in the
next step, causing a hazardous situation. Prop the Z-axis with a support stand
before loosening these bolts. (See Fig. 5-14.)
Replacement parts
Type No.
SHF-17-30
V-25A (N+C)
Replacement parts
Type No.
SHF-20-50
V-28A (N+C)
5-27
CHAPTER 5 Periodic Inspection
YAMAHA Parts No.
KBF-M1821-000
KN4-M1896-000 Lower part of harmonic drive
KN3-M257L-000 Supplied with harmonic drive
90990-17J031 Spline nut
90990-17J032 Y-axis arm
90990-17J033 Wave generator
KBF-M1886-000 FORSHEDA
YAMAHA Parts No.
KBP-M1821-000
KN3-M2159-000 Lower part of harmonic drive
KN3-M2144-000 Supplied with harmonic drive
90990-17J036 Spline nut
90990-17J038 Y-axis arm
90990-17J037 Wave generator
KBP-M1886-000 FORSHEDA
Note
Note