User manual

RP6 ROBOT SYSTEM - APPENDIX
6. The robot generates strange noises when moving!
● Strange noises may have several reasons. You will have to open the robot to
check the gears and motors. The power cables may have moved into the
gearing system? Just a few rattling noises are quite normal and will
not cause problems! At high speeds the robot certainly will generate more
noise (but definitely not reach the extreme sound levels of the old prede-
cessor CCRP5-system).
● Maybe one of the adjusting collars (fixing bolts) at the gearwheels, at the
front wheels or anything else has loosened? All wheels must rotate freely
(test this by carefully turning the wheels on the rear!), but the gearwheels
are not allowed to be grinding at each other!
● A few drops of oil applied to both ball bearings of each motor – at the front-
side and at the backside where you may view the motor shaft – may reduce
noise generation (ATTENTION: Please strictly use special oil for ball bear-
ings only!! e.g. Conrad part number 223441-62 “Team Orion Free Revs Ball
Bearing Oil #41701”). During and after this oiling-procedure for the ball
bearings, the motor shafts have to be rotated in order to adequately spread
the oil over the bearing's surfaces (hold the motor upright for a few seconds
to allow the oil film to flow into the bearing)! After this, any oil residues
should be wiped away! Bearings should have been oiled during manufactur-
ing in the factory already, but the oiling procedure may need a refresh again
at certain intervals!
Please do not consider to oil the gearwheels this way! This may destroy the
encoder system! Even if the oil is not damaging the electronic components,
the fluid may damage the encoder wheels/stickers, which can soak any flu-
ids very well and this will drastically influence reflectivity (the RP6v2 Stick-
ers are a bit more robust, but still should not be oiled at all)! Additionally ro-
tating gearwheels may spread these fluids and lubricants anywhere inside
the robot's interior! The application of lubrication grease (non-fluids!)
is restricted to the shafts (!) of both cluster gears only! Usually
grease on the gears will not improve noise too much...
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