MAINTAINING THE GRYPHON

TERMINATION OF RJ45 INTERFACE gravity with power off. Access to the adjustment is again
by removing the covers to the encoders, in the middle
n the event of unexpected behaviour, check that the and at the elbow end of the upper arm link, respectively.
terminating plug is fitted to the last device in the chain of
devices connected to the RJ45 interface board.
ENCODERS
If the terminator has been omitted or mis-laid then
transmission errors are likely to occur. The potentiometers used for position feedback
information in the axes control system for earlier
versions of Gryphon, have been replaced by optical
LUBRICATING THE GEARBOXES encoders which should require no maintenance nor
should they be the cause of any erratic behaviour. They
The worm and wheel gearboxes on all five robot axes are protected from damage and ingress of dust by the
must be kept well lubricated with a general-purpose covers fitted at each axis. However, when making
grease. adjustments to the friction dampers, they are vulnerable
to accidental damage. It is also advisable to remove
The grease may be applied with a suitable brush, having any particles of dust from the encoder wheel, using a
first gained access to the gearboxes by removing the blast of low pressure air, and to avoid any deposit of
appropriate cover plates. grease that may occur if the gearboxes are also being
lubricated.
For axis 0, the side plate of the axis housing furthest
from the vertical column should be removed. Access to
the gearboxes for axes 1 and 2 is best gained by
removing the bottom cover to the upper arm, when the
gearboxes will be seen to be in the middle and at the
elbow end of the arm link. Because of the differential
gearing required at the wrist axis, the two gearboxes for
axes 4 and 5 are counter-positioned and it is therefore
necessary to remove both top and bottom cover plates
from the fore-arm link, to gain access.

Having well lubricated both the worm and wheel in each

of the gearboxes, the axes should be moved by hand to
ensure even distribution of the grease, before replacing
the cover plates.

DAMPER ADJUSTMENT

Axis 0, the waist axis, has gravity pre-load only and in

consequence has particularly low friction. To ensure
control stability, a measure of adjustable friction has
been incorporated in the form of an oil impregnated
nylon semi-cylindrical block, which is in contact with one
face of the drive gear to that axis. The pressure exerted
by the block to give the friction damping effect, may be
adjusted using the hexagon headed screws which may
be accessed by removing the encoder cover on top of
the waist axis housing, and will be seen to be below the
pulley drive to the encoder. If the waist overshoots or
oscillates, tighten the adjuster screws by about half a
turn.

The same form of adjustable friction damping is also

incorporated on axes 1 and 2, where it also contributes
to the prevention of "droop", or axis movement under

WALLI for WINDOWS. Revision A GRYPHON MAINTENANCE