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6.4.5. Replacing Axis-S Reducer [HA006L]

6.4.5. Replacing Axis-S 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 in [Figure 6.19] to prevent the arm from dropping.

 

(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 [Figure 6.20], remove the bolt from the outlet side of the reducer.

 

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

 

(7)   With reference to [Figure 6.20], remove the ball bearing 6816ZZ, center gear, ball bearing 6816ZZ, and O-ring AS(ARP)568-173.

 

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

 

(9)   Remove the bolt from the cable hollow to remove the cable hollow.

 

(10) Replace the O-ring (G70) and assemble the cable hollow.

 

(11) Replace the O-ring AS(ARP)568-165 and AS(ARP)568-173 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, 200.7 Nm).

Bolts need to be tightened in a diagonal sequence.

 

(12) Assemble the reducer with the ball bearing 6816 ZZ, center gear, and ball bearing 6816ZZ. (If the bearing is damaged, replace with a new one.)

 

(13) Assemble the part above the outlet side with the reducer slowly using a crane, which had been removed in Step (6). Clean and deoil the bolt of the reducer and tighten using a torque wrench to the specified torque (torque, 72 Nm).

Bolts need to be tightened in a diagonal sequence.

 

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

 

(15) Fill up with the specified grease.

 

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

 

 

Figure 6.19 Robot position when replacing the S axis reducer [HA006L]

 

 

Figure 6.20 Axis-S Reducer Disassembly Diagram [HA006L]