Epson LS20, Manipulator Manual, Page: 144 / 176

Maintenance 10. Ball Screw Spline Unit
132 LS20 Rev.4
10.1.1 Standard-model (S type)
Cover the surrounding area 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
pressing the brake release switch.
Brake Release
Switch
(4) Turn OFF the Controller.
(5) 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.
(6) Turn ON the Controller.
(7) Move the shaft to its lower limit by hand while pressing the brake release switch.
(8) Wipe off the old grease from the lower part of the shaft, and then apply new grease
to it.
When applying the new grease to the lower part of the shaft, directly fill the grooves
on it by hand. Wipe off excess grease from the shaft.
(9) Move the shaft up and down several times while pressing the brake release switch to
smooth out the grease on the shaft. Wipe off excess grease from the shaft.
When wiping off the excess grease from the upper part of shaft, turn OFF the
Controller and remove the Arm Top Cover.
For details, refer to Maintenance: 3.1 Arm Top Cover .