3-4-3 Stroke end method ..............................................................................4-33
3-4-3-1 R6YXX1200 .................................................................................... 4-33
4 Setting the Soft Limits ........................................................... 4-37
5 Setting the Standard Coordinates ........................................... 4-40
6 Afxing Stickers for Origin Positions, Movement
Directions and Axis Names .................................................... 4-41
7 Removing the Robot Covers .................................................. 4-43
8 Adjusting the Timing Belt Tension ........................................ 4-46
8-1
Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400)
............4-47
8-2 Adjusting the belt tension (R6YXX1200) ..........................................4-49
CHAPTER 5 Periodic Inspecition
1 Overview .................................................................................. 5-1
2 Precautions ............................................................................... 5-2
3 Daily Inspection ....................................................................... 5-3
4 Six-Month Inspection ............................................................... 5-5
5 Replacing the Harmonic Drive ................................................. 5-8
5-1 Replacement period ..............................................................................5-8
5-2
Basic replacement procedure for harmonic drive and precautions
................5-10
5-2-1 R6YXH250, R6YXH350, R6YXH400 ..............................................5-12
5-2-2 R6YXX1200.......................................................................................5-29
6 Replacing the Grease for RV Speed Reduction Gears
(R6YXX1200) ............................................................................. 5-34
6-1 Replacement period ............................................................................5-34
6-2 Recommended grease .........................................................................5-34
6-3 Replacement procedure ......................................................................5-35
6-3-1 Replacing the X-axis grease
(rst product to products manufactured in September 2009) .............5-36
6-3-2 Replacing the X-axis grease
(products manufactured from October 2009 onward) ........................5-37
6-3-3 Replacing the Y-axis grease
(rst product to products manufactured in September 2009) .............5-38
6-3-4 Replacing the Y-axis grease
(products manufactured from October 2009 onward) ........................5-39
CHAPTER 6 Increasing the robot operating speed
1 Increasing the robot operating speed ........................................ 6-1
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