Yamaha 4-axis model, 3-axis model owner manual Three-year inspection

Chapter 4 Periodic Inspections

6 Three-year inspection

Check the following points once every three years, and adjust or replenish grease as necessary.

If the robot is used frequently, inspect the robot at an earlier stage.

Check point	Check items
R-axis speed	Disassemble and check the harmonic drive.
reduction gear	Replace the grease.*
X-axis, Y-axis and
Z-axis drive section	Check the ball screws, nuts and linear guide for
(Ball screw nut
	looseness caused by wear.
section, motor section
and linear guide)

*To replace harmonic drive grease, see "8 Maintenance and inspection".

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