Fanuc Robot S-420iR

1) Replacing J4--axis motor (M4)

1 Set the posture of the wrist such that no load is applied to the wrist axis.

4 Remove four bolts (M12 x 40 2pcs, M12 x 55 2pcs) for mounting the motor, then the motor.

5 Remove the nut and take out the center gear.

6 Replace the motor with a new one. And reassemble it in a reverse order. Also replace the O--ring (as a precaution). Apply Locktite No. 242 to the threaded portion of the motor shaft. Be sure to mount the O- -ring at the appropriate position. Pay special attention so as not to scratch the tooth face of the super gear.

7 Apply grease to the motor (Refer to section 3).

8 Perform mastering (Refer to section 5.3).

1) Replacing J5--axis motor (M5)

1 Remove loads from the robot’s wrist such as a hand and workpieces.

3 Remove the J5--axis cover, the connector of the J5--axis motor (M5), then the plate. Cut the nylon cable tie. (See Section 8.2, ”Replacing the Cables.”)

4 Remove the bolt (M12 x 40) for mounting the motor, then remove the motor.

5 Remove the draw bolt and spline from the motor shaft.

6 Replace the motor with a new one. Also replace the O--ring (as a precaution). Reassemble the removed components. Be sure to mount the O--ring at the appropriate position. Use new motor mounting sealbolts. (In case of reusing sealbolts, apply LOCTITE No.242 to them. (Refer to section 6.1) Fasten the excess part of the cable to the plate with a nylon tie. See 8.2 for an explanation of how to lay the cable.

7 Apply grease to the reducer (Refer to section 3).

8 Perform mastering (Refer to section 5.3).

Warning: This lubrication process requires trained personnel with PPE!

Select the parts where grease was replaced

Cross-Roller Bearing Lubrication

Was the cross-roller bearing greased successfully?

Required Positions for Greasing

Enter the positions where grease was applied as per item 3.2.

Sign off on the robot lubrication

Air pressure on the air regulator

Drop quantity during wrist or hand motion

Oiler level within the specified level

Check joints, tubes, etc. for leaks

Air pressure on the air filter unit

Check joints, tubes, etc. for leaks

Robot moves smoothly without unusual vibration or sounds

Check if the temperature of the motors is excessively high

1) Replacing the J2/J3--axis motor (M2/M3)

i) Standard type (See Fig. 6.3(a))

2 Suspend the J3--axis arm with a rope. Also, suspend the J3--axis link for safety. (See Fig. 6.3(c).) (For S--420iR, suspend it as shown in Fig. 6.3(d).)

4 Remove the mounting bolts (M12×40) of the motor to be replaced, and remove the motor to be replaced.

5 Remove the nut, the input gear and the draw bolt in order.

6 Replace the motor, and remount a new motor reversing the above procedure. Polish the motor flange with an oil stone. Apply LOCTITE No. 242 to the draw bolt and the motor thread. Mount the O--ring correctly. Use new motor mounting sealbolts. (In case of reusing sealbolts, apply LOCTITE No.242 to them. (Refer to section 6.1) Be careful not to damage the tooth surface of the input gear.

7 Replenish the grease (Refer to section 3).