6 Disassembly and Reassembly of Speed Reducer
6.5 Disassembly and Reassembly of B-Axis Speed Reducer
6-9
159281-1CD
HW1480357
HP20D
6.5 Disassembly and Reassembly of B-Axis Speed Reducer
• Refer to
5 “Disassembly and Reassembly of B-Axis Speed
Disassembly
1. 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, remove
the timing belt .
4. Remove the GT-SA bolts . Then, remove the pulley , the
housing , the wave generator , and the bearings and .
5. Remove the hexagon socket head cap screw , then remove the
pulley .
6. Remove the GT-SA bolts , then remove the circular spline .
7. Remove the GT-SA bolts , then remove the flex spline .
Reassembly
1. Mount the flex spline on the wrist base.
2. Tighten the GT-SA bolts with the tightening torque shown in
5 "B-Axis Speed Reducer Parts Checklist"
3. Apply Harmonic Grease SK-1A on the surface between the teeth of
the circular spline and the flex spline . Apply ThreeBond 1206C on
the 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
5 "B-Axis Speed Reducer Parts Checklist"
5. Apply Harmonic Grease SK-1A on the bearing part of the wave
generator . Press-fit the bearings and . Then, mount the
housing 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 cap
screw . Then, tighten it with the tightening torque shown in
"B-Axis Speed Reducer Parts Checklist"
.
7. Insert the wave generator assembled at the step 5 above in the wrist
base.
8. Tighten the GT-SA bolts with the tightening torque shown in
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 in
5 "B-Axis Speed Reducer Parts Checklist"
. (Refer to
“Disassembly, Reassembly, and Adjustment of B- and T-axis Timing
.)
11. Remove the old sealing bond on the covers and the U-arm. Apply
ThreeBond 1206C on the matching surface between the covers and
the U-arm. Then, mount the covers on the U-arm.
12. Tighten the GT-SA bolts with the tightening torque shown in
5 "B-Axis Speed Reducer Parts Checklist"
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9
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6
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