User`s guide

Chapter 5: Maintenance
5.5 Checking Robot for Oil around Harmonic Drive
The Adept Cobra ePLC600 and ePLC800 robots use oil in the harmonic drive components for
lubrication. Periodically inspect the robot for any signs of oil in areas immediately outside of
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 eAIB chassis and inspecting internally.
WARNING:Remove all power to the robot before
opening the eAIB chassis.
Contact Adept if you find any signs of oil in these areas.
5.6 Lubricating Joint 3
Use LG-2 Grease
(Lithium Soap/Synthetic Hydrocarbon),
Adept part number: 90401-04029.
CAUTION:Using improper lubrication products on the
Adept Cobra ePLC600/800 robots may cause damage to
the robot.
Lubrication Procedure
1.
Turn off main power to the robot.
Lock out and tag out power.
2.
Remove the outer link cover by removing 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 6-4. 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 for instructions on removing the link cover, and for
instructions on removing the bellows.
Adept Cobra ePLC600/800 Robot, User’s Guide, Rev A
Page 55 of 108