5. Motion Range 61
2.3 Grease Replenishment
2.3 Grease Replenishment
The reduction gear units need greasing at intervals of 6000 hours of operation time. Use only the grease specified.
WARNING
■ Move out of the safeguarded area before operating the Manipulator for run-in during grease replenishment. Operating the Manipulator while someone is inside of the safeguarded area is extremely hazardous and may cause serious safety problems.
WARNING
■ After the run-in, be sure to turn OFF the controller and related equipment, and then pull out the power plug from the power source. Then, continue the grease replenishment. Performing any grease procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.
CAUTION
■ Ensure that there is sufficient grease in the Manipulator. Operating the Manipulator with insufficient grease will damage sliding parts and/or result in insufficient function of the Manipulator. Once the parts are damaged, a lot of time and money will be required for the repairs.
CAUTION
■ Wear protective gear including a mask, protective goggles, and oil-resistant gloves during grease up. If grease gets into your eyes, mouth, or on your skin, follow the instructions below.
If grease gets into your eyes : Flush them thoroughly with clean water, and then see a doctor immediately.
If grease gets into your mouth : If swallowed, do not induce vomiting. See a doctor immediately.
If grease just gets into your mouth, wash out your mouth with water thoroughly.
If grease gets on your skin : Wash the area thoroughly with soap and water.
Grease Gun Lubrication Nozzle Shape
Use a commercially available grease gun.
We recommend the use of a grease gun with a nozzle shaped like that shown in the figure below and an outer diameter (øD) 13 mm or less.
Straight
Chuck
Hose
øD øD ØD
2.3.1 J1 Reduction Gear Unit
Grease Inlet
(PT1/8 Hexagon Socket Head Cap Plug)
Air Vent
(PT1/8 Hexagon Socket Head Cap Plug) Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 30 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 5 mm) 1
Grease nipple PT 1/8 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the hexagon socket head cap plug from the grease inlet.
(2) Attach a grease nipple PT1/8 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(3) Remove the hexagon socket head cap plug from the air vent using a flat blade screwdriver.
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, the internal pressure increases. Increasing internal pressure may cause malfunction of the robot system.
(4) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2) Quantity : 30 g
(5) Operate the Manipulator at low power mode speed for one hour to run-in the grease.
(6) Wipe off excess grease exhausted from the air vent with wiping cloth.
(7) Apply liquid gasket to the hexagon socket head cap plug and attach the plug to the air vent.
(8) Remove the grease nipple from the grease inlet.
)
NOTE2.3.2 J2 Reduction Gear Unit
Grease Inlet (M5 Hexagon Socket Head Cap Bolt)
Air Vent (M5 Plug) A
View A
Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 30 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 4 mm) 1
Grease nipple A-MT6×1 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the hexagon socket head cap bolt from the grease inlet.
(2) Attach a grease nipple A-MT6×1 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(3) Remove the plug from the air vent using a flat blade screwdriver..
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, the internal pressure increases. Increasing internal pressure may cause malfunction of the robot system.
(4) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2) Quantity : 30 g
(5) Operate the Manipulator at low power mode speed for one hour to run-in the grease.
(6) Wipe off excess grease exhausted from the air vent with wiping cloth.
(7) Apply liquid gasket to the plug and attach the plug to the air vent.
(8) Remove the grease nipple from the grease inlet.
(9) Apply liquid gasket to the hexagon socket head cap bolt and attach the bolt to the
)
NOTE2.3.3 J3 Reduction Gear Unit
Grease Inlet
(M5 Hexagon Socket Head Cap Bolt)
Air Vent
(M5 Plug) A View A
Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 20 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 4 mm) 1
Grease nipple A-MT6×1 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the hexagon socket head cap bolt from the grease inlet.
(2) Attach a grease nipple A-MT6×1 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(3) Remove the plug from the air vent.
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, grease will go inside the motor and may cause malfunction of the robot system.
(4) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2) Quantity : 20 g
(5) Operate the Manipulator at low power mode speed for one hour to run-in the grease.
(6) Wipe off excess grease exhausted from the air vent with wiping cloth.
(7) Apply liquid gasket to the plug and attach the plug to the air vent.
(8) Remove the grease nipple from the grease inlet.
(9) Apply liquid gasket to the hexagon socket head cap bolt and attach the bolt to the grease inlet.
)
NOTE2.3.4 J4 Reduction Gear Unit
Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 7 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 3 mm) 1
Grease Nipple A-MT6×1 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the bolts. Then, remove the upper casing cover from Arm #J3.
4-M4×12 hexagon socket head cap bolts with plain washers
(2) Remove the plug from the air vent using a flat blade screwdriver.
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, the internal pressure increases. Increasing internal pressure may cause malfunction of the robot system.
(3) Remove the plug from the grease inlet.
(4) Attach a grease nipple A-MT6×1 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(5) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2) Quantity : 7 g
(6) Operate the Manipulator at low power mode speed for one hour to run-in the grease.
(7) Wipe off excess grease exhausted from the air vent with wiping cloth.
(8) Apply liquid gasket to the plug and attach the plug to the air vent.
(9) Apply liquid gasket to the bolts and secure the upper casing cover with the bolts.
)
NOTE2.3.5 J5 Reduction Gear Unit
Grease Inlet (M5 Plug) Air Vent
(M5 Plug)
J5 Cover
Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 5 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 3 mm) 1
Grease Nipple A-MT6×1 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the bolts. Then, remove the J5 cover from Arm #J4.
5-M4×12 hexagon socket head cap bolts with plain washers (2) Remove the plug from the air vent using a blade screwdriver.
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, the internal pressure increases. Increasing internal pressure may cause malfunction of the robot system.
(3) Remove the plug from the grease inlet using a flat blade screwdriver.
(4) Attach a grease nipple A-MT6×1 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(5) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2) Quantity : 5 g
)
NOTE(7) Wipe off excess grease exhausted from the air vent with wiping cloth.
(8) Apply liquid gasket to the plug and attach the plug to the air vent.
(9) Secure the J5 cover with the bolts.
5-M4×12 hexagon socket head cap bolts with plain washers
2.3.6 J6 Reduction Gear Unit
Grease Inlet
(1-M6 Hexagon Socket Head Cap Bolt) Air Vent (M5 Plug)
Maintenance Parts and Tools
Name Quantity Note
Grease for reduction gear (4BNo2) 5 g R13B030302 Maintenance Parts
Liquid gasket (1206C) Proper quantity R13B031201 Tools Hexagonal wrench (width across flats: 5 mm) 1
Grease nipple A-MT6×1 1
Flat blade screwdriver 1
Grease gun 1
Wiping cloth 1 For wiping grease
Grease Replenishment Procedure
(1) Remove the hexagon socket head cap bolt from the grease inlet.
(2) Attach a grease nipple A-MT6×1 to the grease inlet. (The grease nipple is supplied with the Manipulator.)
(3) Remove the plug from the air vent using a flat blade screwdriver.
Be sure to remove the plug from the air vent. When grease is being added while the plug is in the air vent, the internal pressure increases. Increasing internal pressure may cause malfunction of the robot system.
(4) Pump grease into the reduction gear unit from the grease inlet using a grease gun.
Grease : Grease for reduction gear (4BNo2)
)
NOTE(5) Operate the Manipulator at low power mode speed for one hour to run-in the grease.
(6) Wipe off excess grease exhausted from the air vent with wiping cloth.
(7) Apply liquid gasket to the plug and attach the plug to the air vent. (8) Remove the grease nipple from the grease inlet.
(9) Apply liquid gasket to the hexagon socket head cap bolt and attach the bolt to the grease inlet.