5Maintenance and Inspection
Maintenance and inspection procedures
5-61
■ Lubrication to wrist housing end and between elbow block and forearm
Fig. 5-17 shows the procedures for Lubrication to wrist housing end and between elbow block and forearm. Refer
to the "5.3.2Installing/removing the cover" on page 48 and remove the necessary covers.
1) Remove the No.2 arm cover U and wrist cover S/U.
2) Remove the wrist cover L installation screw, and shift the cover in the direction of the arrow
The J6 axis motor cable is passed through the hole of ring <1>. Make sure not to apply excessive force on the
cable. The ring <1> is fixed (adhered) to the wrist cover. Make sure not to apply excessive force on the ring
<1>.
3) Apply grease(BARRIERTA IMI/V) onto the surface that the seal ring <1> oil seal contacts using a brush, etc.
4) With the wrist cover L shifted, move the ring <2> in the direction of the arrow, and remove it. (The ring <2> is
not adhered)
5) Apply grease(BARRIERTA IMI/V) onto the surface that the ring <2> oil seal contacts using a brush, etc.
6) Return the ring <2> to the original position. Match the surface that the sponge is attached to the outer side
and toward the wrist cover L side as shown in the Fig. 5-17.
7) While pressing the ring <2> in the arrow of the direction so that it matches the wrist cover L groove, install the
wrist cover L to the original position with the screws (two M3x8 screws).
8) While making sure that the ring <1> and ring <2> correctly match the groove, install the wrist cover U to the
original position with the screws (two M3x8 screws).
9) Install the No.2 arm cover U and wrist cover S/U to the original position. In the case of clean specification,
take care not to damage the packing attached to the cover matching surface at this time.
This completes the lubrication to wrist housing end and between elbow block and forearm.
Fig.5-17 ： Lubrication to wrist housing end and between elbow block and forearm
wristcoverS
(Withseal)
WristcoverL
<1>Ring
J6axismotorcab
WristcoverS
<2>Ring
J6axismotor
WristcoverU
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