Chapter 7: Maintenance
Item
Description
A
Area around Joint 1 (both sides)
B
Area around Joint 2 (both sides)
C
Bottom of the robot base interior (accessed by opening the iCS-ECAT chassis
and inspecting internally
WARNING: ELECTROCUTION RISK
Remove all power robot power before opening the iCS-ECAT
chassis.
Lubricating Joint 3
This section provides important safety information and instructions for lubricating Joint 3.
Use the following grease type:
l
LG-2 Grease (Lithium Soap/Synthetic Hydrocarbon)
l
Part number: 90401-04029
!
CAUTION: PROPERTY DAMAGE RISK
Using improper lubrication on the robot may cause damage.
Lubrication Procedure
1. Remove all power from the robot.
2. Carefully remove the outer link cover by removing screws located on the sides and top
of the cover.
!
WARNING:
After removing the outer cover, you will see the label
shown in OP3/4 Connector on page 20. Do not remove the J3-ENC or J4-
ENC encoder cables from their sockets, or all calibration data will be lost
and the robot must go through a factory recalibration process.
For the IP65 version, refer to Remove and Reinstall Outer Link Cover on page
159 for instructions on removing the link cover, and IP65 Bellows Replacement
on page 164 for instructions on removing the bellows.
For the Cleanroom version, refer to Cleanroom Option Considerations on page
167 for instructions on removing the bellows. The outer link cover is standard.
3. Turn ON 24 VDC power to the robot.
4. Press the 'Z' BRAKE RELEASE button (above the 2-digit Robot Status Display) and
move Joint 3 to the top of its travel.
Remove any existing grease with a clean, lint-free, soft cloth.
24402-000 Rev B
eCobra 600 and 800 Robots with EtherCAT
115
