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10.3.2 C, CM Type Manipulators
A large amount of dust is emitted during the greasing procedure because the bellows must
NOTE
be removed. Before greasing the ball screw spline unit of the C or CM type, take the unit
to an outer room such as the room in front of the clean room's entrance, or take the
necessary countermeasures to prevent dust emission.
Do not allow any grease to get on the outside of the bellows while greasing.
Cover the surrounding such as the end effector and peripheral equipment in case the grease
drips.
Upper Part of the Shaft
(1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF)
(2) Move the arm to a position where Joint #3 can be moved in full stroke.
(3) Move the shaft to its upper limit manually
(4) Turn OFF the Controller.
(5) Remove the arm top cover and lift it.
(6) Wipe off the old grease from the upper part
(7) Install the arm top cover.
E2C Rev.6
Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
while pushing the Joint #3 brake release
button.
For details on the removal method, refer to
Maintenance: 3.1 Arm Top Cover.
of the shaft, and then apply new grease to
it.
Directly fill the grooves on the shaft inside
the bellows with grease by hand.
Wipe off excess grease from the shaft.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
Arm top
cover
Shaft
169
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