Greasing
The ball screw spline and reduction gear units need greasing regularly. Only use the grease specified.
CAUTION
- Pay attention to the amount of greasing When grease runs out, scratches and other defects can occur on the slide, not only hindering maximum performance, but also requiring significant time and money to repair.
- 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
Rinse with water and soap.
| Part | Interval | Grease | How to grease | |
|---|---|---|---|---|
| Joint #1, Joint #2 | Reduction gear units | Overhaul timing | - | Greasing shall be performed by personnel who has taken a proper training. For details, refer to the Maintenance Manual of the Manipulator. |
| Joint #3 | Ball screw spline unit, support shaft | At 100 km of operation (50 km for first greasing) | AFB | Greasing the Ball Screw Spline Unit (mentioned below) |
Joint #3 ball screw spline unit and support shaft
The recommended greasing interval is at 100 Km of operation. However, greasing interval also can be checked from the grease condition. As shown in the figure, apply grease when the grease turns black or has dried up.
| Normal grease | Blackened grease |
|---|---|
 |  |
When greasing for the first time, perform greasing at 50 km of operation.
KEY POINTS
In Epson RC+, the recommended greasing interval for the ball screw spline unit is referred in Epson RC+ [Maintenance].
Applying grease to the ball screw spline unit
| Name | Quantity | Note | |
|---|---|---|---|
| Grease used | For Ball Screw Spline Unit (AFB grease) | Appropriate amount | |
| Tools used | Wiping cloth | 1 | For wiping grease (Spline shaft) |
KEY POINTS
Cover the surrounding area such as the hand and peripheral equipment in case the grease drips.
Turn ON the Controller.
Move the shaft to its lower limit in one of the following methods.
- Move the shaft to its lower limit manually while pressing the brake release switch.
- Move the shaft to its lower limit from Epson RC+ [Tools]-[Robot Manager]-[Jog & Teach].
KEY POINTS
- Be sure to keep enough space and prevent the hand from hitting any peripheral equipment.
- The brake release switch is used with Joint #3. When the brake release switch is pressed, the brake for Joint #3 is released. Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of the hand.
Symbol Description a Joint #3 brake release switch b Shaft c Arm #2 d Arm #1 Turn off the Controller.
Wipe off the old grease from the shaft, and then apply new grease to it.
The grease application area is from the end of the spline nut to the mechanical stop.
Symbol Description a Application area b Mechanical stop c Shaft d End of the spline nut Grease should be applied to the helical and vertical grooves of the ball screw spline so that the grooves are filled evenly.
Grease application example:
Turn on the Controller.
Start the Robot Manager, and move the shaft to the origin position.
Be careful not to hit peripheral equipment.
After moving to the origin position, reciprocate the shaft. The reciprocating operation is a low power mode operation program that performs from the upper limit to the lower limit. Run for about 5 minutes to spread the grease over the shaft.
Turn off the Controller.
Wipe off any excess grease at the spline nut end, mechanical stop, and the lower side of the shaft.
Symbol Description a End of the spline nut b Mechanical stop