Omron i4H User Manual page 119

Maintenance
i4H Robots with EtherCAT User's Manual (I661)
This section provides information on the maintenance of the i4H robot.
6-1 Field-replaceable Items ................................................................................. 6-2
6-2 Periodic Maintenance .................................................................................... 6-3
6-2-1 Periodic Maintenance Overview...................................................................... 6-3
6-2-2 Checking Safety Functions.............................................................................. 6-3
6-2-3 Checking Fastener Torques ............................................................................ 6-4
6-2-4 Checking Safety and Warning Labels ............................................................. 6-5
6-2-5 Checking for Oil Leaks .................................................................................... 6-5
6-2-6 Lubricating Joint 3 ........................................................................................... 6-5
6-2-7 Replacing Encoder Batteries........................................................................... 6-6
6-2-8 Harmonic Drive Oil Change............................................................................. 6-8
6-2-9 Cleaning the Robot.......................................................................................... 6-8
6-3 Non-periodic Maintenance ............................................................................ 6-9
6-3-1 Replacing the Tool Flange............................................................................... 6-9
6-3-2 Replacing the iCS-ECAT Amplifier Chassis .................................................. 6-10
6-3-3 Replacing the Outer Link Cover .................................................................... 6-14
6
6
6-1