2
Periodic inspection
2-5
2.3 Six-month inspection
Take the following precautions when performing 6-month inspection.
w
WARNING
WHEN THE BRAKE OF THE vERTICAL AxIS IS RELEASED, THE SLIDER AxIS MAY DROP, LEADING TO HAzARDOUS
SITUATION. WHEN APPLYING THE GREASE TO THE vERTICAL AxIS PARTS, DO NOT RELEASE THE BRAKE.
■
Inspection to be performed with the controller turned off
1
Turn off the controller.
2
Place a sign indicating the robot is being adjusted.
Place a sign showing that the robot is being inspected, to keep others from operating the controller
switch.
3
Perform the inspection.
Enter the safety enclosure and check the following points.
Checkpoint
Procedure
Remarks
Major bolts and screws on
exterior of robot main unit
Check for looseness and tighten if necessary. (*1)
Ball screw and linear
guide
• Check for looseness in the ball screw and linear
guide.
Tighten if necessary.
• Check for vibration during operation.
Tighten drive section, and X and Y axis
installation bolts if necessary.
• Check for wear and backlash. If any abnormality
is found, contact your distributor.
If problem is not solved or wear and
backlash are found, please contact your
distributor.
Controller
• Check for loose terminals.
• Check for loose connectors.
Application of grease to
ball screw/nut and linear
guide
Apply the grease every 6 months.
Recommended grease
N18
Daphne Eponex SR2 (Idemitsu)
Other than
N18
Alvania grease S2 (Showa Shell)
Alvania No.2 (Showa Shell)
Daphne Eponex No. 2 (Idemitsul)
Common
LG2 (NSK) For Clean Specification
See "3. Applying the grease" in this
Chapter.
Belt
• Check the timing belt for fault (scratch or
crack).
• Check the tension of the timing belt.
See Chapter 3, Adjustment.
Slider
Check for unusual wear or damage.
• If the friction is the cause of the trouble,
make the adjustment so that the
interference between the mating part and
slider is eliminated.
• If the slider is broken, contact your
distributor.
Resin slider
1. Check for backlash due to wear
2. Check for dirt or contamination.
1. Replace the resin slider.
(When replacing, contact your distributor.)
2. Perform the cleaning.
Bushing
• Check for unusual sound or vibration.
• Check for backlash due to wear
• Check that the clearance to the ball screw is wide.
When replacing,
see "7. Replacing the bushings" in Chapter 4
Wire
1. Check for scratch or fray.
2. Check for looseness.
1. Replace the wire.
(When replacing, contact your distributor.)
2. Adjust the wire tension.
(When replacing, contact your distributor.)
Resin pulley
Check for backlash due to wear
Replace the pulley.
(When replacing, contact your distributor.)
Insert
• Check that the positioning is correct during
operation.
• Check for unusual noise during operation.
See "3. Replacing the insert" in Chapter 4.
c
CAUTION
If the grease recommended by YAMAHA is not used, this may cause the service life of the ball screw or linear
guide to shorten.
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