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Maintenance and inspection procedures
5Maintenance and Inspection
5.3.6 How to lubricate the spring shaft area
This robot uses springs for gravity compensation for the J2 axis drive system. The small power consumption of
the motor is achieved by connecting spring hooks to the spring shafts set in the J2 axis motor area and J1 axis
case, thereby compensating for the gravity by the spring force. Depending on the conditions under which the robot
is used, wear may occur due to lack of lubrication in the spring shaft areas. If wear is detected during periodical
inspections, it is necessary to apply grease to the two areas shown in Fig. 5-18. Use highly viscous grease (water-
soluble types are not allowed). Table 5-5 lists recommended types of grease.
Fig.5-18 ： Lubricated points in the spring shaft area
Hand painting
Section of J2 axis motor
Section of J1 axis
Hand painting
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