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7.5
Checking Robot for Oil Around Harmonic Drive
The Cobra i-series robots use oil in the harmonic drive components for lubrication. It is
recommended that you periodically inspect the robot for any signs of oil in areas outside
of the harmonic drive. Check these locations:
NOTE: Remove all power to the robot before opening the AIB chassis.
• The area around Joint 1
• The area around Joint 2
• Inside the base of the robot, by opening the AIB chassis and inspecting internally
Contact Adept if you find any signs of oil in these areas.
7.6
Lubricating Joint 3 Ball Screw/Spline
Required Grease for the Robot
Ball Screw/Spline Assembly Grease
LG-2 Lubricating Grease
Lithium Soap, Synthetic Hydrocarbon
Adept part number: 85139-00002
Lubrication Procedure
1. Turn off main power to the robot.
2. Remove the outer link cover by removing six screws located on the sides and top
of the cover. Carefully remove the cover.
3. Switch on 24 VDC power to the robot
Adept Cobra i600/i800 Robot User's Guide, Rev E
CAUTION:
Using improper lubrication products on the
Adept Cobra i600 or i800 robot may cause damage to the
robot.
WARNING:
When the outer link cover is removed, you see
the label shown in
Figure 2-3 on page
the J3-ENC or J4-ENC encoder cable connectors from their
sockets. If they are removed, the calibration data will be
lost and the robot must be run through a factory
recalibration process, which requires special software and
tools.
Checking Robot for Oil Around Harmonic Drive
21. Do not remove
107
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