CRS F3, User Manual

Page: 109 / 128

Chapter 10: Preventive Maintenance 95
99-05-31
Harmonic Drive Lubrication
CRS Robotics Corp. uses and recommends the 4B no. 2 grease from HD
Systems for the harmonic drives. This is an efficient and durable grease; it is
not necessary to add new grease to the harmonic drives prior to changing it.
Grease replacement is recommended once every 1.5 x 10
9
input revolutions
of the harmonic drives. This corresponds to 1.5 x 10
7
output revolutions on
the lower joints and 1.875 x 10
7
on the wrist joints.
Consider as an example an application which moves the lower joints at an
average speed of 20 rpm over three shifts per day. Grease change should be
scheduled after 520 days or roughly 17 months.
For applications with high load and duty cycle or operating at a higher
temperature than 60
°
C, more frequent grease changes may be necessary.
For example, if the harmonic drives are operating at 70
°
C , a grease change
will be necessary after 1 x 10
9
input revolutions. Conversely, you can wait
longer between grease changes if your application has a low load and
relatively low duty cycle. Contact the Customer Support Group to schedule a
maintenance visit.