fanuc arc mate 100iB Maintenance Manual
FANUC Robot ARC Mate 100i MODEL B
FANUC Robot M-6i MODEL B
MAINTENANCE MANUAL
B--81545EN/01
B--81545EN/01
A
ARCMate100i
M
MODEL
B
PREFACE
PREFACE
This manual explains the maintenance and connection procedures for the
mechanical units (R--J3i controller) of the following robots. Before
replacing the purts, determine thespecification number ofthe mechanical
unit.:
Model name Abbreviation
FANUC Robot ARC Mate 100i
MODEL B
(WithJ2 and J3--axis brake)
FANUC Robot ARC Mate 100i
MODEL B
(Withall axes brake)
FANUC Robot M--6i MODEL B
(WithJ2 and J3--axis brake)
FANUC Robot M--6i MODEL B
(Withall axes brake)
RC Mate 100i
MODEL B
--6i
Mechanical unit
specification No.
A05B--1215--B201
A05B--1215--B601
A05B--1215--B202
A05B--1215--B602
PREFACE
LETTERS
SERIA
L
PRODUCTIO
N
B--81545EN/01
No. (1) (2) (3) (4) (5)
CONTENTS MODEL TYPE No. DATE
FANUC Robot ARC Mate 100i
MODEL B (2-- axis brake)
FANUC Robot ARC Mate 100i
MODEL B (6-- axis brake)
FANUC Robot M--6i MODEL B
(2--axis brake)
FANUC Robot M--6i MODEL B
(6--axis brake)
A05B--1215--B201 184 kg
A05B--1215--B601
A05B--1215--B201
PRINT
NO.
PRINT
PRODUCTION
YEAR AND
MONTH
A05B--1215--B601 138 kg
WEIGHT
(Withoutcontroller)
138 kg
184 kg
B--81545EN/01
g
p
PREFACE
Specification
Item R--2000i/165F
Type Articulated type
Controlledaxes 6 axes (J1, J2, J3, J4, J5, J6)
Installation Floor, Upside--dowm (Wall& Angle mount) (Note 1)
Motion range
(Maximumspeed)
Maximum speed
Max. load capacity at wrist 6kg
Max. load capacity on J3 catting 12kg
Allowableloadmomentatwrist
Allowable load inertiaat wrist
Drive method Electricservo driveby AC servo motor
Repeatability 0.06mm
Weightof mechanicalunit 134kg (2--axis brake type)
Installation environment Ambient temperature : 0 -- 45°C
J1 axis rotation 340° (5.93rad)
J2 axis rotation 250° (4.36rad)
J3 axis rotation 315° (5.60rad)
J4 axis wrist rotation 380° (6.63rad)
J5 axis wrist swing 280° (4.89rad)
J6 axis wrist rotation 720° (12.57rad)
J1 axis 150°/s (2.62rad/s)
J2 axis 160°/s (2.79rad/s)
J3 axis 170°/s (2.97rad/s)
J4 axis 400°/s (6.98rad/s)
J5 axis 400°/s (6.98rad/s)
J6 axis 500°/s (8.73rad/s)
J4 axis 15.7N·m (1.8kgf·m)
J5 axis 9.8N·m (1.0kgf·m)
J6 axis 5.9N·m (0.5kgf·m)
J4 axis 0.63kg·m2(6.4kgf·cm·s2)
J5 axis 0.22kg·m2(2.2kgf·cm·s2)
J6 axis 0.061kg·m2(0.62kgf·cm·s2)
138kg (6--axis brake type)
Ambient humidity : Normally :75%RH or less
: Short time 95%RH or less
(within 1 month)
(No dew or frostallowed)
Vibration : 0.5G (4.9m/s
2
)orless
NOTE
1 Under the installation condition within ( ), the J1 and J2 axis motion range will be limited.
PREFACE
B--81545EN/01
Dust--proof/waterproof performance of M--6i B
Normal specification
Wrist+J3 arm IP67
Other part IP54
NOTE
Definition of IP code
Definition of IP 67
6=Dust--tight
7=Protection from water immersion
Definition of IP 54
5=Dust--protected
4=Protection from splashing water
Performance of resistant chemicals and resistant solvents
(1)(1)The robot (including severe dust/liquid protection model) cannot
be used with the following liquids because there is feat that rubber
parts (packing, oil seal, O ring etc.) will corrode.
(a) Organic solvcnts
(b) Coolant including chlorine / gasoline
(c) Acid, alkali and liquid causing rust
(d) Other liquids or solutions, that will harm NBR
(2) When the robots work in the environment, using water or liquid,
complete draining of J1 base must be done. Incomplete draining of
J1 base will make the robot break down.
B--81545EN/01
PREFACE
RELATED MANUALS
Safety handbook B--80687EN
All persons who use the FANUC Robot and system de-
signer must read and understand thoroughly this handbook
R--J3i MODEL B controller Setup and Operations
manual
SPOT TOOL
B--81464EN--1
HANDLING TOOL
B--81464EN--2
ARC TOOL
B--81464EN--3
SEALING TOOL
B--81464EN--4
Maintenance manual
B--81465EN
B--81465EN--1
(European
specification)
Mechanical unit Maintenance manual
FANUC Robot ARC Mate
100i B
M--6i B
B--81545EN
For the FANUC Robot series, the following manuals are available:
Intended readers :
All persons who use FANUC Robot, systemdesigner
Topics :
Safety items for robot system design, operation, maintenance
Intended readers :
Operator, programmer, maintenance person, system designer
Topics :
Robot functions, operations, programming, setup, interfaces, alarms
Use :
Robot operation, teaching, system design
Intended readers :
Maintenance person, systemdesigner
Topics :
Installation, connection to peripheral equipment, maintenance
Use :
Installation, start--up, connection, maintenance
Intended readers :
Maintenance person, systemdesigner
Topics :
Installation, connection to the controller, maintenance
Use :
installation, start--up, connection, maintenance
B--81545EN/01
Table of Contents
I. MAINTENANCE
1. CONFIGURATION 3............................................................
1.1 J1--AXIS DRIVE MECHANISM 4......................................................
1.2 J2--AXIS DRIVE MECHANISM 5......................................................
1.3 J3--AXIS DRIVE MECHANISM 6......................................................
1.4 J4--AXIS DRIVE MECHANISM 7......................................................
1.5 J5-- AND J6--AXIS DRIVE MECHANISMS 8............................................
1.6 SPECIFICA TIONS OF THE MAJOR MECHANICAL UNIT COMPONENTS 9.................
2. PREVENTIVE MAINTENANCE 11................................................
2.1 DAILY INSPECTION 12.............................................................
2.2 QUARTERLY INSPECTION 14.......................................................
2.3 YEARLY INSPECTION 15...........................................................
2.4 ONE-- AND HALF--YEAR PERIODIC INSPECTION 16...................................
2.5 THREE--YEAR PERIODIC INSPECTION 17............................................
2.6 MAINTENANCE TOOLS 18..........................................................
3. PERIODIC MAINTENANCE 19..................................................
3.1 GREASING 20.....................................................................
3.2 GREASE REPLACEMENT 22........................................................
3.3 BATTERY REPLACEMENT 25.......................................................
4. TROUBLESHOOTING 26......................................................
4.1 OVERVIEW 27.....................................................................
4.2 TROUBLES AND CAUSES 28........................................................
4.3 COMPONENT REPLACEMENT AND ADJUSTMENT ITEMS 31...........................
5. ADJUSTMENTS 32............................................................
5.1 REFERENCE POSITION AND MOVING RANGE 33.....................................
5.2 SIMPLIFIED MASTERING 37........................................................
5.3 MASTERING BY ZERO POSITION MARK ALIGNMENT 39..............................
5.4 JIG--BASED MASTERING 41.........................................................
5.5 CONFIRMING MASTERING 47.......................................................
5.6 J5--AXIS GEAR BACKLASH ADJUSTMENTS 48........................................
5.7 BRAKE RELEASE 50...............................................................
6. COMPONENT REPLACEMENT AND ADJUSTMENTS 52..........................
6.1 REPLACING THE J1--AXIS MOTOR
6.2 REPLACING THE J1--AXIS REDUCER 55..............................................
6.3 REPLACING THE J2--AXIS MOTOR
6.4 REPLACING THE J2--AXIS REDUCER 59..............................................
6.5 REPLACING THE J3--AXIS MOTOR
6.6 REPLACING THE J3--AXIS REDUCER 64..............................................
M1
M2
M3
53...........................................
57...........................................
62...........................................
TABLE OF CONTENTS
B--81545EN/01
6.7 REPLACING THE J4--AXIS MOTOR
6.8 REPLACING THE J4--AXIS GEARBOX 67..............................................
6.9 REPLACING THE J5--AXIS MOTOR
6.10 REPLACING THE J5--AXIS GEAR 71..................................................
6.11 REPLACING THE J6--AXIS MOTOR
M4
M5
M6
AND REDUCER 73............................
7. PIPING AND WIRING 77.......................................................
7.1 PIPING DRAWING 78...............................................................
7.2 WIRING DIAGRAMS 79.............................................................
7.3 CABLE MOUNTING DIAGRAM 81...................................................
8. CABLE REPLACEMENT 82....................................................
8.1 CABLE DRESSING 83..............................................................
8.2 REPLACING CABLES 85............................................................
9. COVER OPTION REPLACEMENT 90............................................
9.1 REPLACING THE J2 COVER OPTION (A05B--1210--J401) 91..............................
9.2 REPLACING THE J4 COVER OPTION (A05B--1210--J402) 92..............................
66...........................................
69...........................................
10. M--6i PACKAGES WITH REINFORCED DUST--PROOF AND
DRIP--PROOF CHARACTERISTICS 93.........................................
10.1 DUST--PROOF AND DRIP--PROOF PERFORMANCE OF THE PACKAGES WITH
REINFORCED DUST--PROOF AND DRIP--PROOF CHARACTERISTICS 94..................
10.2 CONFIGURATION OF THE PACKAGES WITH REINFORCED DUST--PROOF AND
DRIP--PROOF CHARACTERISTICS 95.................................................
10.3 CAUTIONS IN SELECTING THE PACKAGES WITH REINFORCED DUST--PROOF
AND DRIP--PROOF CHARACTERISTICS 97............................................
10.4 REPLACING THE COMPONENTS OF THE PACKAGES WITH REINFORCED DUST--PROOF
AND DRIP--PROOF CHARACTERISTICS 98............................................
II. CONNECTION
1. ROBOT OUTLINE DRAWING AND OPERATION AREA DIAGRAM 103.............
1.1 OUTLINE DRAWING AND OPERATION AREA DIAGRAM 104...........................
2. MOUNTING DEVICES ON THE ROBOT 107......................................
2.1 WRIST SECTION END EFFECTOR MOUNTING SURFACE 108...........................
2.2 DEVICE MOUNTING SURFACES 109.................................................
2.3 SETTING THE SYSTEMVARIABLES FOR SHORTEST--TIME CONTROL 111...............
2.4 WRIST LOAD CONDITIONS 114.....................................................
2.5 END EFFECTOR AIR PIPING 115.....................................................
2.6 END EFFECTOR INPUT SIGNALS (RDI/RDO) 116......................................
2.7 CONNECTOR SPECIFICATIONS 117..................................................
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TABLE OF CONTENTS
3. TRANSPORTATION AND INSTALLATION 118....................................
3.1 TRANSPORTATION 119.............................................................
3.2 STORING THE ROBOT 121..........................................................
3.3 INSTALLATION 122................................................................
3.4 MAINTENANCE CLEARANCE 125...................................................
3.5 ASSEMBLING THE ROBOT FOR INSTALLATION 127...................................
3.6 AIR PIPING 128....................................................................
3.7 INSTALLATION CONDITIONS 130...................................................
APPENDIX
A. SPARE PARTS LISTS 133.....................................................
B. INTRA--MECHANICAL UNIT CONNECTION DIAGRAMS 139......................
C. PERIODIC INSPECTION TABLE 144............................................
D. BOLT MOUNTING TORQUE LIST 145...........................................
I. MAINTENANCE
B--81545EN/01
1
1. CONFIGURATIONMAINTENANCE
CONFIGURATION
Fig. 1 shows the configuration of the mechanical unit.
AC servo motor forJ4--axis (M4)
AC servo motor forJ3--axis (M3)
AC servo motor forJ1--axis (M1)
J3--axis arm
AC servo motor forJ5--axis (M5)
AC servo motor forJ6--axis (M6)
Wristunit
J3--axis casing
J2--axis arm
AC servo motor forJ2--axis (M2)
J2--axis base
J1--axis base
Fig 1 Mechanical unit configuration
1. CONFIGURATION
MAINTENANCE
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1.1
J1--AXIS DRIVE
MECHANISM
Fig. 1.1 shows the J1--axis drive mechanism.
TheJ1--axis drivemechanismisconfiguredinsuch a waythattheJ2--axis
base is rotated by reducing the rotation speed of an AC servo motor with
a reducer.
The J2--axis base is supported on the J1--axis base through the reducer.
J1--axis AC servo motor
J2--axis base
J1--axis reducer
J1--axis base
Fig 1.1 J1--axis drive mechanism
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1. CONFIGURATIONMAINTENANCE
1.2
J2--AXIS DRIVE
MECHANISM
Fig. 1.2 shows the J2--axis drive mechanism. The J2--axis drive
mechanismis configuredin such a waythat the J2--axis armis rotatedby
reducing the rotation speed of an AC servo motor with a reducer.
The J2--axis arm is supported on the J2--axis base through the reducer.
J2--axis AC servo motor
J2--axis base
J2--axis arm
J2--axis reducer
Fig 1.2 J2--axis drive mechanism
1. CONFIGURATION
MAINTENANCE
B--81545EN/01
1.3
J3--AXIS DRIVE
MECHANISM
Fig. 1.3 shows the J3--axis drive mechanism. The J3--axis drive
mechanism is configured in such a way that the J3--axis casing is rotated
by reducing the rotation speed of an AC servo motor with a reducer.
The J3--axis casing is supported on the J2--axis arm through the reducer.
J3--axis reducer
J3--axis AC servo motor
J3--axis casing
J2--axis arm
Fig 1.3 J3--axis drive mechanism
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1. CONFIGURATIONMAINTENANCE
1.4
J4--AXIS DRIVE
MECHANISM
Fig. 1.4 shows the J4--axis drive mechanism. The J4--axis drive
mechanismis configuredin such a waythat the J3--axis armis rotatedby
reducing the rotation speedof an AC servo motor with a two--stage gear.
J3--axis arm
Final gear
Second gear
J3--axis casing
Input gear
J4--axis AC servo motor
Fig 1.4 J4--axis drive mechanism
1. CONFIGURATION
MAINTENANCE
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1.5
J5-- AND J6--AXIS
DRIVE MECHANISMS
Fig. 1.5 shows the J5-- and J6--axis drivemechanisms. TheJ5--axis drive
mechanism is configured in such a waythat the J6--axis unit is rotated by
reducingthe rotation speedofan AC servomotor witha three--stage gear.
The J6--axis drivemechanism is configured in such a way that theoutput
flangeisrotatedby reducingtherotationspeedofanACservo motorwith
a reducer.
J5--axis AC servo motor J6--axis unit J6--axis AC servo motor
Output flange
Input gear
Second gear
Final gear
Third gear
Fig 1.5 J5-- and J6--axis drive mechanisms
J6--axis reducer
B--81545EN/01
1. CONFIGURATIONMAINTENANCE
1.6
SPECIFICATIONS OF
THE MAJOR
MECHANICAL UNIT
COMPONENTS
1) Motors
ARC Mate 100i MODEL B
(two--axis, equipped with a brake): A05B--1215--B201
M--6i MODEL B
(two--axis, equipped with a brake): A05B--1215--B202
Specification Axis Remark
A06B-0223-B005 J1 α 4/4000i
A06B-0223-B605 J2 α 4/4000i Equipped witha brake
A06B-0202-B605 J3 α 1/5000i Equipped witha brake
A06B-0202-B005 J4 α 1/5000i
A06B-0115-B075#0008 J5 β M0.5/4000
A06B-0114-B075#0008 J6 β M0.4/4000
ARC Mate 100i MODEL B
(six--axis, equipped with a brake): A05B--1215--B601
M--6i MODEL B
(six--axis, equipped with a brake): A05B--1215--B602
Specification Axis Remark
A06B-0223-B605 J1 α 4/4000i Equipped witha brake
A06B-0223-B605 J2 α 4/4000i Equipped witha brake
A06B-0202-B605 J3 α 1/5000i Equipped witha brake
A06B-0202-B605 J4 α 1/5000i Equipped witha brake
A06B-0115-B275#0008 J5 β M0.5/4000
Equipped with a brake
A06B-0114-B275#0008 J6 β M0.4/4000
Equipped with a brake
2) Reducers
Specification Axis
A97L-0218-0288#33 J1
A97L-0218-0289#153 J2
A97L-0218-0295#161 J3
A97L-0218-0224 J6
3) J4--axis gearbox
Specification Axis
A05B-1215-K401 J4
1. CONFIGURATION
MAINTENANCE
4) Gears
Specification Axis
A290-7215-X511 J5
A290-7215-V501 J5
A290-7215-V502 J5
A290-7215-X514 J5
5) Stoppers
Specification Axis
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A290-7215-X241 J1
A290-7215-X323 J2
A290-7215-X324 J3
Note) 330° stopper
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2
2. PREVENTIVE MAINTENANCEMAINTENANCE
PREVENTIVE MAINTENANCE
Performing daily inspection, periodic inspection, and maintenance can
keep the performance of robots in a stable state for a long period.
2. PREVENTIVE MAINTENANCE
MAINTENANCE
B--81545EN/01
2.1
DAILY INSPECTION
Clean and maintain each component of robots during everyday system
operations. At the same time, check the components to see if there is a
crack or break in them. Also check and maintain the following items as
required.
a) Before automatic operation
No. Inspection item Inspection procedure
1 Pneumatic pressure
check
2
For
machines
with a
three--piece
pneumatic
option
Check on the amount of
oil mist
Make a pneumatic pressure
check, using the three--piece
pneumatic option shown in Fig.
2.1.
Ifthemeasuredpneumaticpressure does not fall in the range
between0.5and 0.7MPa(5and
7kg/cm
usingtheregulatorpressuresetting handle.
Putthepneumaticpressuresystem in operation and check the
amount of oil dripping. If the
measuredamountof oildripping
does not meet the rating (one
drop/10 to 20 seconds), make
adjustments, using the oil adjustment knob. The oiler becomes empty after10to 20 days
of normal operation.
2
), make adjustments,
3 Check on the amount of
oil
4 Check for leakage from
the piping
5 Whethercables are abnormal
Mechanical unit
6 Battery voltagecheck Make sure that when thepower
7 Whether there is any abnormal vibra-
tion,noise,or heatgenerationin motors
8 Whetherthereisa change topositioning
precision
Check to see iftheamount of oil
inthethree-- piece option is within the rated level shown in Fig.
2.1.
Check to see if a joint or hose
leaks.
Ifyou finda problem, tighten the
joint or replace any defective
component.
See Chapter8.
isturnedon,theBLAL alarmhas
not been raised. If the BLAL
alarm has been raised, replace
the battery as directed in Section 3.3.
Check thateach axis is running
smoothly.
Check to see if thereis any displacement from the previous
positionand there are variations
in the stop position.
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2. PREVENTIVE MAINTENANCEMAINTENANCE
No. Inspection procedureInspection item
9 Reliable operation of peripheral equip-
ment
10 Check on the operation of the J2-- and
J3--axis brakes.
Oiler’s oil inlet
Filter
Regulator pressure setting handle
Fig 2.1 Three--piece pneumatic option
Pressure gauge
Check to see if the machine operates exactly according to
directionsfromtherobotandperipheralequipment.
See Section4.2.
Oileradjustmentknob
Check oiler’s oil level
Oiler
b) After automatic operation
Once you are finishedwith automatic operation, bring therobot to its
reference position, and turn it off.
No. Inspection item Inspection procedure
1 Componentcleaning
and inspection
Clean and maintain each component. At the
same time, check the components to see if
there is a crack or break in them.
2. PREVENTIVE MAINTENANCE
MAINTENANCE
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2.2
QUARTERLY
INSPECTION
Inspectthe following items at regularintervalsof threemonths. Increase
the locations and the frequency of i nspection if the conditions under
which the robot is used and the environment in which it runs require so.
No. Inspection item Inspection procedure
1 Loose connector Check that themotor connectors or other con-
nectors are not loose.
2 Loose bolt Check thatthecoverretainingboltsorexternal
bolts are not loose.
3 Debris removal Remove any spatter, debris,anddust from the
mechanical unit.
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2. PREVENTIVE MAINTENANCEMAINTENANCE
2.3
YEARLY INSPECTION
Inspect the following item at regular intervals of one year.
No. Inspection item Inspection procedure
1 Greasing See Section 3.1.
2. PREVENTIVE MAINTENANCE
MAINTENANCE
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2.4
ONE-- AND
HALF--YEAR
PERIODIC
INSPECTION
Performthe followinginspection/maintenanceitem at regularintervalsof
one year and half.
No. Inspection item Inspection procedure
1 Battery replacement Replace the battery in the mechanical unit.
(See Section 3.3.)
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2.5
2. PREVENTIVE MAINTENANCEMAINTENANCE
THREE--YEAR
PERIODIC
INSPECTION
No.
1 Greasereplacement See Section3.2.
Inspection item Inspection procedure
2. PREVENTIVE MAINTENANCE
MAINTENANCE
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2.6
MAINTENANCE
TOOLS
You should have the following instruments and tools ready for
maintenance.
a) Measuring instruments
Instrument Condition Use
Dial gauge 1/100mm Forpositioningprecision and backlash
measurement
Calipers 150mm
b) Tools
Phillips screwdrivers (large, medium, and small sizes)
Flat--blade screwdrivers (large, medium, and small sizes)
Box wrenches (M3 to M6)
Allen wrenches (M3 to M16)
Torque wrench
Long T wrenches (M5 and M6)
Adjustable wrenches (medium and small sizes)
Pliers
Long--nose pliers
Cutting pliers
Both--ended wrench
Grease gun
C--ring pliers
Flashlight
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3
3. PERIODIC MAINTENANCEMAINTENANCE
PERIODIC MAINTENANCE
3. PERIODIC MAINTENANCE
MAINTENANCE
B--81545EN/01
3.1
GREASING
When greasing the robot, keep its power turned off.
i) Roughly speaking, replenish the robot with grease once a year.
ii) See Fig. 3.1 and Table 3.1 for greasing points and the method.
Table. 3.1 Greasing points
Greasing
No.
1 J6--axis
point
reducer
Specified
grease
Mori White
RE No.00
(Specification:
A97L-0040-0119)
Amount
of
grease
40cc J6--axis grease inlet and out-
Greasing method
let, and attach the supplied
greasenipple to the greaseinlet. Aftergreasing, remove the
grease nipple, and attach the
flat--head bolts and sealing
washers to the grease inlet
and outlet.
CAUTION
If you grease incorrectly, the pressure in the grease bath
may increase steeply, leading to a broken seal, which will
eventually cause grease leakage or malfunction.
When greasing, be sure to follow the cautions stated in
Section 3.2.
B--81545EN/01
Grease nipple at the
grease inlet for the
J3-axis reducer
Seal bolt at the
grease outlet for the
J1-axis reducer
Low head bolt and seal
washer at the grease outlet
for the J5-axis reducer
Grease nipple at the
grease inlet for the
J4-axis reducer
Low head bolt and
seal washer at the grease
outlet for the J6-axis reducer
Low head bolt and seal washer at the
grease inlet for the J5-axis reducer
Grease nipple at the grease inlet
for the J2-axis reducer
3. PERIODIC MAINTENANCEMAINTENANCE
Low head bolt and seal
washer at the grease outlet
for the J6-axis reducer
Low head bolt and seal
washer at the grease outlet for the J4-axis reducer
Grease nipple at the
grease outlet for the
J1-axis reducer
Seal bolt at the
grease outlet for the
J3-axis reducer
Seal bolt at the
grease outlet for the
J2-axis reducer (2 locations)
Fig 3.1 Greasing points
3. PERIODIC MAINTENANCE
greasetob
e
turewhe
n
(
S
ificat
i
MAINTENANCE
B--81545EN/01
3.2
GREASE
REPLACEMENT
Follow the procedure stated below to replace the grease in the J1--, J2--,
and J 3--axis reducersand theJ4-- and J5--axis gearboxesonce every three
yearsor after11,520hours of operation. See Fig. 3.1for greasingpoints.
1) Remove the seal bolts from the J1--, J2--, and J3--axis grease outlets
shown in Fig. 3.1. Also remove the flat--bolts and sealing washers
from the J4-- and J5--axis grease outlets.
2) Uncap thegreasenipplesat theJ1--, J2--, J3--, andJ4--axis greaseinlets.
Remove the flat--head bolt fromthe J5--axis grease inlet and attach the
supplied grease nipple to the J5--axis grease inlet.
3) Supply the grease specified in Table 3.2 to the J1--, J2--, and J3--axis
reducers, and J4-- and J5--axis gearboxes through their respective
greasenipples. Keepgreasing untilthe newgrease pushesout theold
grease and comes out from each grease outlet. Ensurethat the amount
of the newly supplied grease equals the amount of the drained grease
so that the grease bath will not become full.
4) Wind sealing t ape around the J1--, J2--, and J3--axis seal bolts you
removed, and attach them to the respective grease outlets.
5) Attach the J4-- and J5--axis flat--head bolts and t he J4-- and J5--axis
sealing washers to the respective grease i nlets and outlets.
Table. 3.2 Grease to be replaced at regular intervals of three years
Specified grease Amount of
Robot pos-
Kyodo Yushi
J1--axis reducer
J2--axis reducer
J3--axis reducer About300 -J4--axis gearbox About 700 -J5--axis gearbox About 400 J4=+90°
Mori White RE No.00
pec
A98L-0040-0119#2.4KG)
on:
applied (cc)
About 1100 --
About 570 --
greased
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