IAI America ZR-M - Manual (Page 46)

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13.2 Visual Inspection of Exterior
Inspect the following items before and after operating the robot every day.
Inspection location Inspection item
Safety feature installed by
the user (safety cage, etc.)
Correct the cage for deformation or displacement.
Operation of safety circuits
Whether interlock mechanisms operate normally
Robot
Looseness of robot installation bolts
External abnormality (Check the cables for looseness, damage, dent, etc.)
Abnormal operation, vibration or abnormal noise
Cables
Cable damage
Looseness of cable securing points
Emergency stop switches Whether emergency stop switches operate normally
Should you find any damage or abnormality of the robot, please contact IAI.
13.3 Cleaning
 Clean the exterior surface as deemed necessary.
 Wipe off soiling using a soft cloth, etc.
 Do not blow highly compressed air onto the unit, because it may cause dust to enter the interior through
the gaps.
 Do not use petroleum-based solvents, because they can damage resin and coated surfaces.
 To remove any significant soiling, moisten a soft cloth, etc., with neutral detergent or alcohol and wipe
the area with the cloth gently.
13.4 Inspection of Interior
Inspect the robot for the following items every six months during the daily inspection.
Inspection location Inspection item
Ball screw spline
 Looseness of ball spline
 Apply new grease after removing old grease with waste cloths, etc. (*1)
Applicable
grease: Multemp LRL No. 3 by Kyodo Yushi or equivalent
R-axis reduction gears
 Apply grease while turning the gears. After grease has been applied,
move the gears back and forth several times to spread the grease
evenly. Once the brake is released, the gears can be turned by manually
rotating the output shaft. Release the brake using the switch on the
controller.
* Be sure to release the brake. If the R-axis is rotated without releasing the
brake, failure may occur.
Applicable grease: Multemp AC-D No. 2 by Kyodo Yushi or equivalent
Connector Looseness of connector
Contact IAI for any damage, looseness or any other abnormality of the robot.