Chapter 6 - Maintenance
72 Adept Cobra s600/s800 Robot User’s Guide, Rev H
Lubrication Procedure
1. Turn off main power to the controller and robot.
2. Remove the outer link cover by removing screws located on the sides and top of
the cover. Carefully remove the cover.
3. Switch on 24 VDC power to the robot
4. Press the brake button and move Joint 3 to the top of its travel. Remove any
existing grease with a clean, lint-free, soft cloth.
5. Using a syringe, apply a small bead of grease to the Joint 3 ball screw grooves (see
Figure 6-1 on page 73). Apply grease to the three vertical grooves and the spiral
groove.
6. Press the brake button and move Joint 3 to the bottom of its travel. Remove any
existing grease with a clean, lint-free, soft cloth.
7. Apply a small bead of grease to any grooves of the ball screw that are now
exposed.
8. Move Joint 3 up and down several times to spread the grease evenly.
9. Remove 24 VCD power from the robot.
10. Reinstall the outer link cover.
WARNING: When the Outer link cover is removed, you
see the label shown in Figure 2-3 on page 23. Do not
remove the J3-ENC or J4-ENC encoder cable connectors
from their sockets. If they are removed, the calibration
data will be lost and the robot must be run through a
factory recalibration process, which requires special
software and tools.
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