Epson E2C Series, Manipulator Manual, Page: 179 / 208

Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit
E2C Rev.6 167
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
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
while pushing the Joint #3 brake release
button.
Brake release button
Push
(4) Turn OFF the Controller.
(5) Remove the arm top cover and lift it. (Only for -UL type)
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover .
(6) Wipe off the old grease from the upper part of the shaft, and then apply new grease to
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.
(7) Install the arm top cover. (Only for -UL type)
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover .
(8) Turn ON the Controller.
(9) Move the shaft to its lower limit manually while pushing the Joint #3 brake release
button.
)
NOTE