CRS F3, User Manual

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86 F3 Robot Arm User Guide
99-05-31
Regular Inspection
As with all machines, regular inspection ensures that the F3 robot system is
running trouble-free. Frequent inspection can vary with duty cycle and
operation schedule.
Weekly Inspection
Seals and Seams
The seals and other seams of the robot should be inspected for leakage of
lubricant. Since many of the seals have been designed for minimizing ingress
rather than egress, it may be necessary to wipe oil or grease off these seams.
Monthly Inspection
Chain Inspection
Spring-loaded tensioners in the robot automatically take up slack in the
chains resulting from stretch. Excessive load, however, may lead to
prematurely excessive stretch.
Examine the movement of the robot at high speed to determine whether
excessive stretch has occurred. If joint 2 or 3 moves in a jerky way
suggesting chain slack, tighten the corresponding tensioner and verify
whether the problem is either reduced or eliminated. Contact our Customer
Support Group if the problem persists.
In factory, the plungers for the joint 2 and 3 tensioners are respectively set
at 0.2” and 0.1” from the lip of the cup.
Drawing showing important parts of chain tensioner
The chain tensioners in the F3 robot have been designed to tighten the chain
evenly so that the change at the output sprocket is minimized as tension is
increased. This does not guarantee, however, there will be no position loss.
After tightening a chain, verify that the robot continues to reach the critical
locations in your workcell.
Continuous downward drift of robot position is another sign that the chains
have over-stretched. In this situation, contact our Customer Support Group.