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6.4.8. Replacing Axis-R1 Reducer [HH007C]

6.4.8. Replacing Axis-R1 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 bolts from the output part of the R1-axis reducer..

 

(4)   Remove the wave generator.

 

(5)   Remove the bolts from the locking part of the R1-axis reducer..

 

(6)   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.

 

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

Figure 6.17 R1-axis reduction gear Three Bond coating detail [HH007C]

 

(8)   Connect the wave generator (replaced), and insert it..

 

(9)   Fasten the bolts at the output part of the R1-axis reducer.

 

 

Figure 6.18 Axis-R1 Reducer Disassembly Diagram [HH007C]