5.1.5. Sequence for Subtracting the Residual Pressure

(1) Move the robot into a posture to ensure that it has no interference with surrounding facilities when it is operating.

(2) Attach a grease receiver such as vinyl with an opened entrance to the grease outlet to prevent contamination of the surrounding area.

(3) Operate the robot in the following conditions within the range that will not cause interference with the surroundings.

Axis	Operation angle (axis 1/axis 2/axis 3)	Playback speed	Operation time
Axis 1–Axis 3	80°/90°/70° or above	50 %	Minimum 20 minutes
Axis 4–Axis 6	60°/120°/60° or above	50~100 %	Minimum 20 minutes
Arm gearbox	60°/120°/60° or above	50~100 %	Minimum 20 minutes

(4) Wipe the outlet with a cloth and assemble the plug back into place.

(5) Measure the discharged grease so that it can be included in the amount of discharged grease.