Yamaha YK-X Series User Manual page 152

CHAPTER 5 Periodic Inspection
19) Fit the new O-ring e coated with harmonic grease into the groove at the
bottom of the shaft. Attach a new V-ring to the top of the sleeve and secure
the spline nut to the shaft with the bolts you removed earlier. (See Fig. 5-16.)
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
groove.
20) Insert the bearing mount plate and bearing onto the spline from the top, and
tighten the U-nut to secure the bearing. (Utilize the flat surfaces when
tightening the U-nut like you did to loosen it.) On the YK600XGH and
YK700XG to YK1000XG, do not forget to insert a spacer. (See Fig. 5-15.)
21) Insert the spline and bearing through the holder and secure them with the
bolts you removed earlier. (See Fig. 5-14.)
22) Reconnect the R-axis motor power wire RM and resolver wire RP.
Also reconnect the R-axis motor ring-tongue terminal.
23) Reattach the cover.
24) Go outside the safeguard enclosure.
25) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
! CAUTION
After the Harmonic drive is replaced, the absolute reset must be performed,
and the point data must be reset. Refer to "Chapter 4 Adjustment" to adjust it.
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