Yamaha 150Z User Manual download pdf (Page 33)

3-1

CHAPTER 3 Periodic Inspection

1 Replacing the Harmonic Grease

(Inverted ceiling-mount model R-axis)

Only the R-axis harmonic drive of the inverted ceiling-mount model uses harmonic

grease HC-1A. This grease must be replaced periodically. Use the guideline

explained below to determine the appropriate replacement period and replace the

grease.

1-1 Replacement period

The harmonic drive grease replacement period is determined by the total number

of turns of the wave generator used in the harmonic drive. It is recommended to

replace the harmonic drive grease when the total number of turns has reached

1.5×10

(at ambient operating temperatures of 0°C to +40°C). This means that

the replacement period will differ depending on the following operating conditions.

If the robot operation duty ratio is high or the robot is operated in environments at

higher temperatures, the harmonic drive should be replaced earlier.

Replacement period = 1.5×10

/(n×60×h×D×N×θ) years

where n : Number of axis movements per minute

θ :Average turn per axis movement

N:Speed reduction ratio

h:Operation time per day

D:Operation days per year

For example, when the robot is used under the following conditions, the replacement

period for the R-axis harmonic drive grease of the YK500X can be calculated as

follows.

n:10

θ : 0.25

N:80

h:24 hours per day

D:240 days per year

Replacement period = 1.5×10

/(n×60×h×D×N×θ)

=1.5×10

/(10×60×24×240×80×0.25)

= 2.17 years

Table 3-1 Harmonic drive speed reduction ratio

Robot model

YK300XHS,YK400XHS

YK500XS,YK600XS

YK700XS,YK800XS

YK1000XS

R-axis

1 2 ... 28 29 30 31 32 33 34 35 36 37 38 ... 55 56

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Yamaha 150Z User Manual Page 33

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