Yamaha 3-axis model, 4-axis model Replacing the R-axis harmonic drive ZRS, Specified torque

Chapter 8 SXYX

7)If the value measured in step 4) is smaller than the value given in Table 8-1, move the R-axis motor so that the tension increases. If larger than the value in Table 8-1, move the R-axis motor so that the tension decreases. Then, fix the bolts.

8)Measure the belt tension again with the procedure given in step 4).

If the measured value is within the range shown in Table 8-1, adjustment of the R-axis belt tension is completed. If the measured value is not within the range shown in Table 8-1, repeat steps 6) to 8) and adjust.

9)Tighten the M4 bolt q with the specified tightening torque.

Specified torque 4.5N.m (46kgf.cm)

10) Return the cover to the original position.

Tension decreases

qR-axis motor fixing bolt (M4)

Tension increases

R-axis motor

Fig. 8-28 ZRS belt tension

5-3-3 Replacing the R-axis harmonic drive (ZRS)

The ZRS R-axis speed reduction gear uses a harmonic drive.

The ZRS uses a harmonic drive as the R-axis speed reduction gear, which must be replaced after using for a set period. Determine the harmonic drive replace- ment period with the following procedure, and replace as required.

The ZRS harmonic grease uses a long-life type, and the grease does not need to be replaced.

8-31