Yasaka Robot Maintenance Guide

1. Preface
This document introduces the inspection and maintenance method of RH series. Be sure to read
and understand this and the safety section thoroughly before doing anything, and follow all
safety rules. In addition, please refer to the relevant manual if necessary. In particular, don't do
anything until you fully understand the content of this document. Yasaka shall not be liable for
any accident or damage caused by the maloperations of the user.

Suitable for
YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W

2. Symbols
In this manual, special attention should be paid to the following symbols. To ensure the correct and
safe operation of the robot, and to prevent personal injury and property damage, please follow the
safety information expressed in the following box symbols

Failure to comply with this notice may result in death.

.
 [ ]

Indicates attention information about robot specification, processing,

instruction, operation, and maintenance.

3. Matters need attention

Before the maintenance and operation of our robot, please pay attention to the following matters to
ensure safety.
CAUTION
Be sure to disconnect the controller power and external power before starting the inspection. Set up a
"inspection and maintenance" eye-catching signs, the external power switch lock or hang signs to
prevent the operation of personnel or other unexpected turn on the power, to avoid the occurrence of
unpredictable electric shock and other accidents.

If grease replacement and other operations need to change the joint angle, first turn on the motor power.
The robot's arm should then be adjusted to the desired position, taking care not to approach the arm and be
pinched. After adjusting the robot to the specified posture, disconnect the controller power and external
power again, lock the external power switch, hang up the "check and maintenance" sign, and then start the
operation.

When checked immediately after stopping continuous operation, part of the arm may become hot due
to ambient temperature. Touching this part with bare hands will cause burns. Please operate after
confirming the temperature drops.

Electric shock, clamping and high temperature warning signs should be pasted on thecorresponding
position of the arm. Please confirm in advance. The warning tag and its location are shown on the
following page.

Position of the warning sign (YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W)

（1）High temperature warning. Heat warnings are posted on the motors. In the robot is working,
the temperature of the motor will be up to 50 ℃.If the machine is stopped immediately after touching
the motor, may cause burns.

（2）Warning of robot range of motion. Moving into the range of motion of the robot will cause
unexpected accidents. It is forbidden to enter the motion range of a robot while it is working。
 4. Maintenance inspection items
The maintenance and inspection of the robot mainly includes daily inspection, regular inspection
(5000 hours, 10000 hours and 15000 hours) and overhaul.

This manual describes maintenance and inspection items, as well as inspection and adjustment
methods. These projects are important for robots to function in a stable environment for long
periods of time. Therefore, it is important to perform the following maintenance and inspections.

Examination period & items Dailycheck 5000 10000 15000 20000

hours hours hours hours

Appearance ○ ○ ○ ○
Movement and abnormal noise ○ ○ ○ ○
Positioning accuracy ○ ○ ○ ○
Gear grease supplement ○ ○ ○
Grease replenishment of ○ ○ ○
deceleration unit
Grease replacement of reducer ○

Battery pack replacement ○

Retighten ○
Overhaul (including all above) ○
 5. Details of routine inspections
Please implement the following routine inspection items for our robots.

NO. Item Content inspection Operations

Is there any Check all parts of the robot for damage Remove interference, etc.
damage to the caused by interference, especially the
1 robot? wrist joint.
Are cables and Check hose and cable connection with Readjust fixture to eliminate
hoses abnormal? tools for local bending, distortion and error cause.
2 damage.
1.Check that the axes are moving 1.Check lubrication status.
smoothly. 2.Check the internal of the drive
Is the robot 2.Check for abnormal noise and system for any abnormal
moving vibration. phenomena.
3 abnormally? 3.Check for overshoot. 3.If the problem is caused by the
increase of the tooth clearance,
please contact our company.

1. Check whether the last reproduced 1.Check the internal of the

Does the motion is all positioned in the same exact drive system for any abnormal
positioning position. phenomena.
4 accuracy 2.Check whether the stop position is 2.If the problem is caused by the
change? uneven. increase of the tooth clearance,
please contact our company.

If the above abnormal conditions cannot be solved through inspection and mechanical error
elimination, please contact our company to check and adjust the control system.
 6. Grease replenishment and replacement of gears
1. Be sure to disconnect the controller power supply and external power supply before
replenishing or replacing the grease. Set a “check and maintain” caution symbol, lock or hang the
external power switch to prevent the operator from accidentally turning on the power.
2. Before replenishing or replacing grease, be sure to remove the plug from the discharge port.
Otherwise, the internal pressure of the replenishing grease may damage the seal or cause grease to
penetrate into the motor.
3. When replenishing or replacing grease, please do not add too much according to the
prescribed amount of supplement.
4. Use a manual grease gun to replenish or replace grease.
5. If you need to use an air pump grease gun, please use ZM-45 (produced by Zhengmao
Company, pressure ratio is 50:1). Use the regulator to adjust the air supply pressure to less than
0.26 MPa (2.5 kgf/cm2). (If you are not using the above-mentioned air pump grease gun, please
contact Yasaka.)
6. Do not connect the long fat discharge pipe directly to the discharge port during grease
replenishment. Due to the filling pressure, if the grease is not discharged smoothly, the internal
pressure will rise, which may cause seal damage or grease backflow, resulting in grease leakage.
7. Prior to grease replenishment, follow the precautions for the latest grease Material Safety Data
Sheet (MSDS).
8. When replenishing or replacing grease, prepare a container and a rag to handle the grease
flowing from the inlet and outlet.
9. The used grease is industrial waste related to waste disposal and cleaning methods (commonly
known as waste disposal and cleaning methods). Therefore, please follow the local rules and
regulations.

Plug Width[mm]
M5 4
M6 3
R1/4 6
 J1 reducer
Grease replenishment of J1 reducer
Robot YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W
model
Standard 70cc 90cc 90cc
fill
Grease Kyodo Yushi RE NO.00 grease
type
Working As showed below
position

（a）J1 injection port （b）J1 drain port

Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish new grease from the injection port.
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into the
injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT1 axis for a few minutes to allow excess
grease to drain from the drain port.
⚫ Wipe the grease around the drain port with a rag, wrap the plug three times and a half with a
sealing tape, and screw it into the drain port. (R1/4-tightening torque: 6.9 N·m)

Grease replacement of J1 reducer

YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W

Robot model YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W

Standard 420cc 470cc 280cc
fill
Grease type Kyodo Yushi RE NO.00 grease
Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish the new grease from the injection port until the old oil is completely drained from
the drain port and the new oil is drained. (see color to judge old oil and new oil)
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into the
injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT1 axis for a few minutes to allow excess
grease to drain from the drain port.
⚫ Wipe the grease around the discharge port with a rag, wrap the plug three
⚫ times and a half with a sealing tape, and screw it into the discharge port. (R1/4-tightening
torque: 6.9 N·m)
 J2 reducer
Grease replenishment of J2 reducer

Robot YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W

model
Standard 65cc 65cc 65cc
fill
Grease Kyodo Yushi RE NO.00 grease
type
Working As showed below
position

(a）J2 injection port （b）J2 drain port

Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish new grease from the injection port.
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into the
injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT2 axis for a few
⚫ minutes to allow excess grease to drain from the drain port.
⚫ Wipe the grease around the drain port with a rag, wrap the plug three times and a half with a
sealing tape, and screw it into the drain port.
⚫ (R1/4-tightening torque: 6.9 N·m)
Grease replacement of J2 reducer

YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W

Robot YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W

model
Standard 470cc 550cc 550cc
fill
Grease Kyodo Yushi RE NO.00 grease
type
Working As showed above
position
Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish the new grease from the injection port until the old oil is completely drained from
the drain port and the new oil is drained. (see color to judge old oil and new oil)
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into the
injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT2 axis for a few minutes to allow excess
grease to drain from the drain port.
⚫ Wipe the grease around the discharge port with a rag, wrap the plug three
⚫ times and a half with a sealing tape, and screw it into the discharge port. (R1/4-tightening
torque: 6.9 N·m)
 J3 reducer
Grease replenishment of J3 reducer
YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W

Robot model YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W

Standard 40cc 40cc 40cc
fill
Grease type Kyodo Yushi RE NO.00 grease
Working As showed in Figure 5.3.1
position

（a）J3 injection port （b）J3 drain port

Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish new grease from the injection port.
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into the
injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT3 axis for a few minutes to allow excess
grease to drain from the drain port.
⚫ Wipe the grease around the drain port with a rag, wrap the plug three times
⚫ and a half with a sealing tape, and screw it into the drain port. (R1/4-tightening torque: 6.9
N·m)

Grease replacement of J3 reducer

YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W
 Robot YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W
model
Standard 280cc 450cc 450cc
fill
Grease Kyodo Yushi RE NO.00 grease
type
Working As showed in figure above
position

Operating Steps
⚫ Move the robot to put the arm in the zero position and turn off the power.
⚫ Unscrew the plug on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Replenish the new grease from the injection port until the old oil is completely drained from
the drain port and the new oil is drained. (see color to judge old oil and new oil)
⚫ Unscrew the grease nipple on the injection port, use a rag to remove the
⚫ grease around the injection port, and wrap the plug with a sealing tape for 3 turns and a half,
and screw it into the injection port. (R1/4-tightening torque: 6.9 N·m)
⚫ Before installing the plug at the drain port, turn the JT3 axis for a few minutes to allow excess
grease to drain from the drain port.
⚫ Wipe the grease around the discharge port with a rag, wrap the plug three times and a half with
a sealing tape, and screw it into the discharge port.

J6 reducer
Robot model YS-RH14-10-W YS-RH18-20-W YS-RH20-10-W
Standard 5cc 5cc 5cc
fill
Grease type Mobil sp2
Working As showed in Figure below
position
 J6 reducer unit

Operating Steps
⚫ Move the robot to the zero position and turn off the power.
⚫ Unscrew the M5 bolt on the drain port.
⚫ Unscrew the plug on the injection port and screw it into the grease nipple.
⚫ Add new grease from the injection port.
⚫ Unscrew thegreasenipple ontheinjection port, use arag toremovethe grease around the injection
port, apply the M5 bolt to the 1206C sealant, and screw it into the injection port. (M5
tightening torque: 6 N·m)
⚫ Before installing the plug at the drain port, let the JT6 axis rotate for a few minutes to allow
excess grease to drain from the drain port.
⚫ Wipe the grease around the drain port with a rag, apply the M6 bolt to the 1206C sealant, and
screw it into the drain port. (M5 tightening torque: 6 N·m)

J4 & J5 reducer units

Our RH14-10-W, RH18-20-W, RH20-10-W robot J4/J5 reducer units use an integrated
harmonic reducer, there is no need to replenish or replace the reducer grease.
 7. Replacement of Battery Pack

Warning:WARNING

⚫ When replacing the battery, be sure to disconnect the controller power supply and
external power supply. Set a “check and maintain” caution symbol, lock or hang
the external power switch to prevent the operator or others from accidentally
turning on the power to avoid accidents such as unpredictable electric shock.
⚫ Only use the battery specified by our company
⚫ Do not recharge, heat, change, or disassemble the battery.
⚫ Do not discard the battery in water or fire.
⚫ Do not short the battery positive and negative electrode.
⚫ Dispose of the used batteries in accordance with local rules and regulations.

YS-RH14-10-W/YS-RH18-20-W/YS-RH20-10-W

Robot model All robot models

Working position As showed in Figure above
Operating Steps:
⚫ Be sure to return the robot to zero coordinates before replacing the battery:
[Running Preparation] - [Robot Zero Position Setting] - [To Zero Return
Coordinates].(If you do not return to zero coordinates, replacing the battery will
lose the zero position)
⚫ Turn off the controller's controller power, then unscrew the battery holder's
mounting bolts and remove the battery holder. Be careful not to damage the
harness when disassembling.
⚫ Unplug the battery connector, remove the screws that secure the battery, and remove
the battery.
⚫ Setthenewbatteryinthebatteryholder,secureitwithscrews,andinsert the battery
connector. Install the battery holder to its original position.
⚫ Turn on the controller and re-record the J1-J6 axis zero position on the
⚫ teach pendant. (You can move the robot after recording the zero position,
otherwise the zero position will be lost).
 8. Retighten
Check each bolt or nut for looseness. If necessary, tighten the bolts and nuts firmly.
Among the items that need to be retightened, the following six items are the most
important.

A. Servo motor fixing bolt

B. J5/J6 motor mounting plate fixing bolt C. Reducer fixing bolt
D. Tool fixing bolt E. Base fixing bolt
F. Cover fixing bolt

The company's screw torque standard（N.m）

Screws size Fe-based Al-based
M3 1.4 1.4
M4 4.8 2.8
M5 10 6
M6 16.5 10
M8 40 24.5
M10 82 50
M12 120 82
M14 180 130