Epson RC620 Safety And Installation page 121

Greasing
The ball screw spline and reduction gear units need greasing regularly. Only use
the grease specified.
Parts and Interval when the greasing is necessary have been described. Refer to
the manipulator manual for details of the greasing procedure.
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CAUTION
RS series / G series
Joint #1, #2 Reduction gear units
Ball screw spline shaft
Joint #3
Joint #4 Backlash less gear
RC620 Safety and Installation Rev.8
Keep enough grease in the Manipulator. Operating the
Manipulator with insufficient grease will damage sliding parts and/or
result in insufficient function of the Manipulator. Once the parts
are damaged, a lot of time and money will be required for the
repairs.
If grease gets into your eyes, mouth, or on your skin, follow the
instructions below.
If grease gets into your eyes :
Flush them thoroughly with clean water, and then see a doctor
immediately.
If grease gets into your mouth :
If swallowed, do not induce vomiting. See a doctor immediately.
If grease just gets into your mouth, wash out your mouth with
water thoroughly.
If grease gets on your skin
Wash the area thoroughly with soap and water.
Greasing part Greasing Interval
At the replacement of motor*
First time: after 50 km operation
2nd or later: after 100 km operation
At greasing of Joint #3
5. General Maintenance
Remarks
Only for G10
109