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8-29
Chapter 8 SXYX
5-3 Periodic inspection of the ZS/ZRS unit
5-3-1 Replenishing grease to the Z-axis ball screw and ball spline
A ball screw drive is used for the ZS and ZRS vertical axis. Grease must be
replenished to this ball screw periodically. Select the grease from the following
recommended types.
Recommended grease : Alvania No. 2 (Showa Shell)
Daphne Eponex No. 2 (Idemitsu)
!
CAUTION
When designated by YAMAHA and the user, special grease, such as splatter-
proof grease, may be applied when the robot is delivered. In this case, apply
the appropriate grease as indicated in the delivery specification drawings, etc.
1) Turn the controller power OFF.
2) Place a sign indicating "Work In Progress" so that other operators do not turn
the controller power ON.
3) Remove the screws (M4, 6 screws) fixing the cover, and pull the cover up-
ward and off.
Fig. 8-26 ZS
4) Wipe off any excessive grease adhered on the ball screw shaft and ball spline
shaft.
5) Apply a thin coat of grease on the screw shaft with a finger.
6) Return the cover to the original position.
M4 screw
M4 screw