Greasing The Ball Screw Spline Unit; S, Sm Type Manipulators - Epson E2C Series Manipulator Manual

10.3 Greasing the Ball Screw Spline Unit

The procedure for greasing the ball screw spline unit varies with the Manipulator used.
The brake release button switch is applied to both Joints #3 and #4. When the brake
NOTE
release button switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
Be careful of the shaft falling and rotating while the brake release button switch is being
pressed because the shaft may be lowered by the weight of the end effector.

10.3.1 S, SM Type Manipulators

Cover the surrounding such as the end effector and peripheral equipment in case the grease
drips.
(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. (Only for -UL type)
(6) Wipe off the old grease from the upper part of the shaft, and then apply new grease to
(7) Install the arm top cover. (Only for -UL type)
(8) Turn ON the Controller.
(9) Move the shaft to its lower limit manually while pushing the Joint #3 brake release
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.
it.
When applying the new grease to the upper part of the shaft, directly fill the grooves
on it by hand. Wipe off excess grease from the shaft.
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
button.
Brake release button
Push
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