4 Notes on Grease Replenishment/Exchange Procedures
4.1 Grease Exchange Procedures for Speed Reducers and Gears
4-5
HW1484673
HW1484673
Method 2: Suctioning grease out
(1) Keep the inlet open and insert the tube into the exhaust port.
(2) Discharge grease by suctioning grease out of the exhaust port.
(Suction pressure: 0.025 MPa or less)
(3) If grease is not discharged by suctioning, operate the manipulator
again about 5 times in the teach mode as shown in table 4-3
“Teaching Operation for Each Axis” .
9. For the axis where grease is exchanged, perform a playback operation
indicated in table 4-5 “Running- In Operation for Each Axis” for
running-in the speed reducer with grease.
At this time, grease may be discharged during the operation. Remove
the grease zerk from the grease inlet, and clean and degrease the tap
part and the thread part of the plug. Wrap the seal tape TB4501
around the plug, and then attach it to the grease inlet. Tighten the plug
with the tightening torque shown in table 4-6 “Plug Type and
Tightening Torque for Each Axis” . Also, discharge the excess grease
in order not to increase the inner pressure of the speed reducer.
Attach a bag to receive grease such as indicated in fig. 4-2 “Grease
Receiving Bag (Example)” , and then perform the running-in operation.
Table 4-4: Amount of Grease Discharged from Each Axis
Axis to exchange grease Amount of exhausted grease
[g] [cc]
S-axis 0 [unnecessary] 0 [unnecessary]
L-axis 190±25 215±30
U-axis 90±10 100±15
R-axis (YR-1-06VX50-A00) 155±20 175±25
R-axis (YR-1-06VXL35-A00) 235±35 270±40
B-, and T-axes
B-, and T-axis gear
65±10 75±10
Table 4-5: Running- In Operation for Each Axis
Axis to exchange grease Running-in operation
Operation
angle
Operation speed Timer after each
operation
Operating time
S-axis S-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
L-axis L-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
U-axis U-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
In the casing
R-, B-, and T-axis gear
R-, B-, and T-axis
R-axis ±90°
MOVJ VJ=50.00 1.0 s 15 minutesB-axis ±45°
T-axis ±90°
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