6.4.6. Replacing Axis-H, Axis-V Reducer [HA006L]

6.4.6. Replacing Axis-H, Axis-V Reducer [HA006L]

 

(1)   Set the controller to teaching mode and set the robot to standby [ON] condition. If the robot is not in standby [ON] condition, check whether the arm is sufficiently fixated to avoid it from dropping. And then proceed to (4).

 

(2)   The posture of the robot shall be as shown as below to prevent the arm from dropping.

For Axis-H: refer to [Figure 6.21]

For Axis-V: refer to [Figure 6.23]

 

(3)   Turn the main power [OFF] with the controller power [OFF].

 

(4)   Remove the motor wire and remove the bolt from the motor to remove the motor from the robot body.

 

(5)   With reference to the following figure, remove the bolt from the outlet side of the reducer.

For Axis-H: refer to [Figure 6.22]

For Axis-V: refer to [Figure 6.24]

 

(6)   Remove the part above the outlet size of the reducer slowly using a crane.

 

(7)   With reference to the figure in (5), remove the O-ring.

For Axis-H: O-ring AS568-163

For Axis-V: O-ring AS568-156

 

(8)   Remove the bolt from the inlet side of the reducer to remove the reducer.

 

(9)   Replace the O-ring for the new reducer and assemble the reducer. Clean and deoil the bolt of the reducer and tighten it using a torque wrench to the specified torque (torque, 15.3 Nm). Bolts need to be tightened in a diagonal sequence.

For Axis-H: O-ring AS568-163 / G175

For Axis-V: O-ring AS568-156 / G130

 

(10) Assemble the part above the outlet side of the reducer, which had been removed in Step (6), using a crane. Clean and deoil the bolt for the reducer and tighten using a torque wrench to the specified torque (torque, 36.5 Nm).

Bolts need to be tightened in a diagonal sequence.

 

(11) With reference to [6.4.2], assemble the motor and connect the motor wire.

 

(12) Fill up with the specified grease.

 

(13) Confirm that there is no error in robot's motion.

 

 

Figure 6.21 Robot position when replacing the H axis reducer [HA006L]

 

 

Figure 6.22 Axis-H Reducer Disassembly Diagram [HA006L]

 

 

 

Figure 6.23 Robot position when replacing the V axis reducer [HA006L]

 

 

Figure 6.24 Disassembly of Axis-V Reducer [HA006L]