Fanuc Robot S-420iS

Warning: Ensure the power is turned off before starting the procedure

Ventilation plug for J5-axis removed

New grease applied from the grease inlet until it comes out from the grease outlet

Plug at the grease outlet remounted

Sign off on the grease replacement procedure

1) Replacing J1--axis motor (Fig. 6.2 (a) )

2 Remove the J1--axis motor connectors. (For the S--420i R, remove the cover from the J2 angle base.)

3 Remove four motor mounting bolts (M12×35) and then remove the motor.

4 Remove the nut and gear in order.

5 Replace the motor, and remount a new motor reversing above procedure. Polish the motor flange with oil stone. Apply LOCTITE No. 242 to the thread of the nut. Be careful not to damage the tooth surface of the spur gear. Install an O ring correctly.

6 Perform mastering (Refer to section 5.3).

2) Replacing J1--axis reducer (Fig. 6.2 (b) )

1) Replacing J6--axis motor (M6)

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

2 Turn off the power at the position of J5=--90 degrees.

3 Remove the cover, motor cover and cable connectors.

4 Remove J5--axis cover 2, a plate, a grommet and a clamp. (Do not remove plate and Teflon sheet attached to the J5--axis cover 2).

5 Remove rubber block mounting bolts and take out the cable.

6 Remove four bolts (M8×22) for mounting themotor, then remove the motor.

7 Remove the nut, input gear and the draw bolt.

8 Replace the motor with a new one. Reassemble the removed components. Polish the motor flange with oil stone. 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 input gear. Use new motor mounting sealbolts.

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).

Air pressure in the air regulator

Drop quantity during wrist or hand motion

Oiler level within the specified level

Check joints, tubes, etc. for leaks

Air pressure in the air filter unit

Check joints, tubes, etc. for leaks

Check if robot moves smoothly without unusual vibration or sounds

Check if the temperature of the motors is excessively high