Harmonic Drive Oil Change; Cleaning The Robot - Omron i4H User Manual

6 Maintenance
3
Plug in the new battery pack to one of the available J3 or J4 connectors.
Do not disconnect the existing battery pack until the new battery pack is plugged in.
4
Cut the plastic strap securing the old batteries to the bracket.
5
Disconnect the old battery pack from the connector.
Ensure the new battery pack is plugged in simultaneously before disconnecting the old battery
pack.
6
Place the new batteries on the bracket and secure with a plastic strap / cable tie. Make sure
that the excess cable is properly secured under the cable tie.
7
Re-install the LCD display assembly and secure it with the four screws that were removed in
step 1 to complete this procedure.
Apply Loctite thread lock type 243 or equivalent to the screws before inserting.
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Harmonic Drive Oil Change

The harmonic drive oil in Joint 1 and Joint 2 should be changed every 12 months. This will extend the
life of the harmonic drives and ensure continued performance.
An oil change kit is available. The part number for the oil change is 12370-000F.
Additional Information
Follow the procedure included with the oil change kit when changing the harmonic drive oil.
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Cleaning the Robot

Clean the exterior of the robot as needed. Inspect the external surface of the robot frequently when
used in a dirty environment.
Remove any dirt and debris from the exterior of the robot. Debris can accumulate around robot joints.
Take extra effort to clean around these areas.
Do not use organic solvents to clean any part of the robot unless directed in the clean-
ing instructions. Organic solvents might damage electronics resulting in an unsafe op-
erating state that could cause injury or damage to equipment.
6-8
WARNING
i4H Robots with EtherCAT User's Manual (I661)