YASKAWA MOTOMAN-MPX2600 Instructions Manual page 91

180788-1CD
MPX2600
10 Maintenance and Inspection
10.2 Maintenance for Manipulator
6. Discharge the specified amount of grease from the grease inlet or
grease exhaust port. (Refer to Table 10-5 "Amount of Grease
Discharged from Each Axis".) In order to discharge the specified
amount of grease, receive the discharged grease by using a container,
and then measure the weight of the discharged grease by weighing
the container till the amount reaches to the specified amount.
Use one of the following methods to discharge grease.
Method 1: Extruding grease by air
(1) Connect the joint and the hose to the grease inlet.
(2) Connect the regulator to the grease exhaust port.
(3) Inject air from the grease exhaust port to extrude grease by air.
(Extrusion air pressure: 0.025 MPa or less)
(4) If the grease is not discharged enough by injecting air, operate the
manipulator about 5 times in the teach mode as shown in Table
10-6 "Grease Discharging Operation for Each Axis".
Method 2: Suctioning grease out
(1) Keep the inlet open and insert the tube into the exhaust port.
(2) Discharge grease by suctioning grease out of the exhaust port.
(Suction pressure: 0.025 MPa or less)
(3) If grease is not discharged by suctioning, operate the manipulator
again about 5 times in the teach mode as shown in Table 10-6
"Grease Discharging Operation for Each Axis".
Table 10-5: Amount of Grease Discharged from Each Axis
Posture Axis
Floor-mounted S-axis
L-axis
U-axis
Wall-mounted S-axis
L-axis
U-axis
Ceiling-mounted S-axis
L-axis
U-axis
Table 10-6: Grease Discharging Operation for Each Axis
Axis to exchange
grease
S-, L-, U-axis ±45°
10-10
Amount of exhausted grease
[g]
384±5
110±5
0
11±5
100±5
49±5
0
110±5
0
Angle for teaching
operation
HW1484370
[cc]
427±4
122±4
0
13±4
111±4
54±4
0
122±4
0
Speed for teaching
operation
User-specified
91 of 116