6.4.6. Replacing Axis-R2 Reducer [HH007C]

6.4.6. Replacing Axis-R2 Reducer [HH007C]

 

(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 (3).

 

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

 

(3)   Remove the R2-axis motor wiring of the arm frame, and remove the R2 motor.

 

(4)   Remove the internal parts of the arm frame, including the cable guides, timing pulley, and timing belt.

 

(5)   Remove the frontal parts of the reducer, including the frame spacer and front housing..

 

(6)   Fasten the bolts at the locking part of the R2-axis reducer.

 

(7)   Apply 13 g of grease (SK-1A) to the inside of the reducer in a thickness that matches the ball diameter of the wave generator .

 

(8)   Mount a new R2-axis reducer and fasten the bolts at the locking part.

 

(9)   Apply Threebond to the outer and inner wheels of the bearing, as shown in the following figure, and insert the bearing into the wave generator (replaced).

Figure 6.13 R2-axis reduction gear Three Bond coating detail [HH007C]

 

(10) Apply a thin layer of grease to the outer diameter and the ball of the wave generator. Then, insert the wave generator.

 

(11) Reassemble the parts in (3)–(5).

 

(12) Reassemble the R2-axis motor, and adjust the tension of the timing belt.

(Belt: 3GT / Width: 6 mm / Belt’s unit mass: 2.5 / Span length: 66 mm / Tension: 29 N)

 

(13) Connect the R2-axis motor cables of the arm frame, and put the cables in order.

 

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

Figure 6.14 Axis-R2 Reducer Disassembly Diagram [HA006L]