Adept s800 s800 - Manual (Page 57)

Chapter 5: Maintenance
5.5 Checking for Oil Around Harmonic Drives
The Cobra s800 Inverted robot uses oil in its harmonic drive components for lubrication. It is a
good idea to periodically inspect the robot for any signs of oil in areas around the harmonic
drive. Check these locations:
l
the area around Joint 1
l the area around Joint 2
l inside the base of the robot, by opening the AIB/eAIB chassis and inspecting internally.
Be sure to remove all power to the robot before opening the AIB/eAIB chassis.
Contact Adept if you find any signs of oil in these areas.
5.6 Lubricating Joint 3 Ball Screw
Use LG-2 Lubricating Grease,
(Lithium Soap, Synthetic Hydrocarbon),
Adept part number: 90401-04029
CAUTION: Using improper lubrication products on the
Adept Cobra s800 Inverted robot may cause damage to
the robot.
Lubrication Procedure
1. Turn off main power to the controller and robot.
Lock out and tag out power.
2. Remove the outer link cover by removing six screws located on the sides and top of the
cover. Carefully remove the cover.
WARNING: When the Outer link cover is removed, you
see the label shown in Figure 2-3. Do not remove 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.
For the IP-65 version, refer to Removing/Installing Outer Link Cover on page 128
for instructions on removing the link cover, and Replacing IP-65 Bellows on page
134 for instructions on removing the bellows.
For the Cleanroom version, refer to Maintenance on page 119 for instructions on
removing the bellows. The outer link cover is standard.
3. Switch on 24 VDC power to the robot
4. Press the brake button and move Joint 3 to the top of its travel. Remove any existing
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
Page 57 of 142