YASKAWA MOTOMAN-MS165, Instructions Manual

Page: 73 / 100

9 Maintenance and Inspection
9.3 Grease Exchange
9-12
167109-1CD
HW1482308
MS165
6. For the point where grease is exchanged, perform a playback
operation indicated in table 9-7 “Running-in Operation of Each Axis”
for running-in the speed reducer with the grease.
At this time, in case grease is discharged during the operation, remove
the grease zerk from the grease inlet, clean and degrease the tap part
and the thread part of the plug. And then, apply ThreeBond 1206C to
the thread part of the plug to mount the plug to the grease inlet.
Tighten the plug with the tightening torque indicated in
table 9-8 “Plug
Type and Tightening Torque of Each Axis” . Also, discharge the
excess grease not to increase the inner pressure of the speed reducer.
Attach a bag to receive grease such as indicated in
fig. 9-8 “Grease
Receiving Bag (Rough Standard)” , and then perform the running-in
operation.
Table 9-5: Amount of Grease Discharged from Each Axis
Grease exchanging point Amount of exhausted grease
[g]
[cc]
S-axis 0 [Unnecessary] 0 [Unnecessary]
L-axis 240±30 275±35 (240 to 310)
U-axis 295±40 340±45 (295 to 385)
R-, B-, T-gear in the casing 115±15 130±15 (115 to 145)
R-axis 95±10 110±15 (95 to 125)
B- and T-axis 55±5 65±10 (55 to 75)
Table 9-6: Teaching Operation of Each Axis
Grease exchanging point Operation angle
at teaching operation Teaching
speed
L-axis L-axis ±45°
Arbitrary
U-axis U-axis ±45°
R-, B-, T-gear in the casing,
R-, B- and T-axis
R-axis ±90°
B-axis ±45°
T-axis ±90°
Table 9-7: Running-in Operation of Each Axis
Grease exchanging point Running-in operation
Operation angle
Operation speed Timer after
each operation Operation
time
S-axis S-axis ±45° MOVJ VJ= 50.00 1.0s 15 minutes
L-axis L-axis ±45° MOVJ VJ= 50.00 1.0s 15 minutes
U-axis U-axis ±45° MOVJ VJ= 50.00 1.0s 15 minutes
R-, B-, and T-gear in the casing
R-, B-, and T-axis
R-axis± 90°
MOVJ VJ= 50.00 1.0s 15 minutes B-axis± 45°
T-axis± 90°
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