1. General Maintenance Part 2: Maintenance
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1.3 Lubrication
For this manipulator, reduction gears and ball screw spline shaft are used.
These parts require lubrication or replacing grease periodically. If lubrication is not done
properly, and the manipulator is operated with insufficient grease, sliding parts will be
damaged and the efficiency of the manipulator will be reduced. Once these parts are
damaged, a lot of time and money will be required for repairs.
Only use the grease types specified in the following table.
Position Joint #3 Joint #1 and #2
Greasing part Ball screw spline shaft Reduction gear unit
Greasing interval
First time: after 50 km operation
2nd or more: after 100 km operation
When replacing the motor
*
Grease type AFB grease (THK)
SK-1A
(Harmonic Drive Systems)
Refer to:
The section Greasing the Ball Screw
Spline Unit in 9. Replacing the Ball
Screw Spline Unit.
If the manipulator is a Clean model,
refer to chapter 11. Clean Model.
If the manipulator is a Protected
model, refer to chapter 13. Protected
Model.
6. Replacing the Reduction
Gear Unit.
*
It is not necessary to change grease of the reduction gear periodically under normal
condition, if the grease has been changed when replacing motor. However, in a case of
severe working condition (such as high duty, high speed, large loading, etc.), change
grease every 10,000 hours.
1.4 Tightening Torque of Bolts
Hexagon socket head cap bolts are used where mechanical strength is required in the
manipulator. At the time of construction, these bolts are fastened at the tightening torques
shown in the following table.
When additional tightening is necessary after inspection and when parts replacement is
necessary, tighten the bolts with a torque wrench.
Bolts Tightening torque
M3
245 N⋅cm (25 kgf⋅cm)
M4
490 N⋅cm (50 kgf⋅cm)
M5
980 N⋅cm (100 kgf⋅cm)
M6
1760 N⋅cm (180 kgf⋅cm)
M8
3720 N⋅cm (380 kgf⋅cm)
M10
7350 N⋅cm (750 kgf⋅cm)
M12
12740 N⋅cm (1300 kgf⋅m)
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