YASKAWA MOTOMAN-HP20D Maintenance Manual

Contents

6 Disassembly and Reassembly of Speed Reducer6.5 Disassembly and Reassembly of B-Axis Speed Reducer6-9159281-1CDHW1480357HP20D6.5 Disassembly and Reassembly of B-Axis Speed Reducer• Refer to Fig. 6-5 “Disassembly and Reassembly of B-Axis SpeedReducer”. Disassembly1. Turn OFF the DX100 power supply.2. Remove the GT-SA bolts , then remove the covers .3. Loosen the GT-SA bolts which fix the B-axis motor. Then, removethe timing belt .4. Remove the GT-SA bolts . Then, remove the pulley , thehousing , the wave generator , and the bearings and .5. Remove the hexagon socket head cap screw , then remove thepulley .6. Remove the GT-SA bolts , then remove the circular spline .7. Remove the GT-SA bolts , then remove the flex spline . Reassembly1. Mount the flex spline on the wrist base.2. Tighten the GT-SA bolts with the tightening torque shown in Table6-5 "B-Axis Speed Reducer Parts Checklist".3. Apply Harmonic Grease SK-1A on the surface between the teeth ofthe circular spline and the flex spline . Apply ThreeBond 1206C onthe matching surface between the circular spline and the U-arm.Then, mount the circular spline on the U-arm.4. Tighten the GT-SA bolts with the tightening torque shown in Table6-5 "B-Axis Speed Reducer Parts Checklist".5. Apply Harmonic Grease SK-1A on the bearing part of the wavegenerator . Press-fit the bearings and . Then, mount thehousing and the pulley . (When replacing the speed reducer,replace the bearings and too.)6. Apply Loctite 242 to the thread part of the hexagon socket head capscrew . Then, tighten it with the tightening torque shown in Table 6-5"B-Axis Speed Reducer Parts Checklist".7. Insert the wave generator assembled at the step 5 above in the wristbase.8. Tighten the GT-SA bolts with the tightening torque shown in Table6-5 "B-Axis Speed Reducer Parts Checklist".9. Put the timing belt on the pulley .10. Adjust the initial tension of the timing belt to the designated tension.Then, tighten the GT-SA bolts with the tightening torque shown inTable 6-5 "B-Axis Speed Reducer Parts Checklist". (Refer to chapter 8“Disassembly, Reassembly, and Adjustment of B- and T-axis TimingBelts”.)11. Remove the old sealing bond on the covers and the U-arm. ApplyThreeBond 1206C on the matching surface between the covers andthe U-arm. Then, mount the covers on the U-arm.12. Tighten the GT-SA bolts with the tightening torque shown in Table6-5 "B-Axis Speed Reducer Parts Checklist".11 101459 615 3 8 12764 213 11132 12243 8 1215 68 127395 65141010101160 of 96