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5 Maintenance and Inspection
5.3.6 Lubrication
(1) Lubrication position and specifications
The grease nipple position is shown in
5-7. Refer to the
cover.
Fig.5-17 ： Lubrication positions
Table 5-7 ： Lubrication specifications
No.
Parts to be lubricated
RH-3FH series
<1> J1 axis reduction gears
<2> J2 axis reduction gears
Shaft
<3>
（ball screw spline）
RH-6FH series
<1> J1 axis reduction gears
<2> J2 axis reduction gears
<3> Shaft （ball spline）
<4> Shaft （ball screw）
Maintenance and inspection procedures
5-88
Fig.
Page 68, "5.3.2 Installing/removing the cover"
Inside of No.2 arm cover U
Inside of battery cover
<1>J1 axis lubrication port
Lubrication method
Grease nipple
WC-610(Only addition)
Wipe the old grease,
and applies
Grease nipple
WC-610(Only addition)
Wipe the old grease,
and applies
5-17. The lubrication specifications for each place are shown in
for the method of removing and installing the
<3>Shaft section application
RH-3FH: ball screw spline
RH-6FH/12FH/20FH: ball spline
Lubrication oil
Default charge amount
(maker)
4BNo2
(Harmonic Drive Systems Inc.)
No-CE specification:
Multemp PS2
(KYODO YUSHI CO., LTD.)
CE specification:
klübersynth UH1 14-222
(NOK Kluber Co., Ltd)
4BNo2
(Harmonic Drive Systems Inc.)
No-CE specification:
Multemp PS2
(KYODO YUSHI CO., LTD.)
CE specification:
klübersynth UH1 14-222
(NOK Kluber Co., Ltd)
<4>Ball screw section application
RH-6FH/12FH/20FH
<2>J2 axis lubri -
cation port
Lubrication
Lubrication
amount
interval
guide
24,000 Hr
12 g
24,000 Hr
8 g
Every 2,000km
1 g
movement
24,000 Hr
12 g
24,000 Hr
8 g
1 g
Every 2,000km
movement
1 g
Table
Cover to
remove
Battery cover
No.2 arm
cover U
Battery cover
No.2 arm
cover U
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