Skip to content

Returning a Rig from Storage

[BOTH] If a rig has been in storage, in hibernation, or unused for several months (as happened during extended lockdowns and shutdowns), it should be run through a gentle warm-up procedure before being used at full speed on a production. This protects the gears, bearings, and lubrication system from damage that can occur when cold, settled oil is subjected to sudden high-speed movements.

Why a Run-In Is Needed

When a robot sits still for an extended period, the lubricating oil settles and moves away from the gear surfaces. The first few minutes of movement can therefore be gear-on-gear contact with insufficient oil film, which risks premature wear. A slow run-in redistributes the oil and allows it to reach temperature, restoring full lubrication before demanding moves are run.

Run-In Procedure

Step 1 — Slow repeat mode

  1. Set up a slow move that exercises all axes — ideally covering a reasonable range of travel on each axis.
  2. Set the move to Repeat mode.
  3. Run the move at slow speed — well below production speed.
  4. Allow the rig to run in repeat mode for 20–30 minutes.

"If the robot has literally been sitting still for some months, it would be good to put a slow move, where all axes are moving slowly, in a repeat run for a little while to let the oil distribute on the gears, and let it go for 20/30 mins." — @gordon_admin (MRMC)

Step 2 — Gradual speed increase

After the initial run-in period:

  1. Increase the rig speed gradually over subsequent test runs.
  2. Monitor for unusual noise, vibration, or axis trips.
  3. Only move to full production speed once the rig is running smoothly.

Additional Checks After Storage

Before running the rig at speed, also check:

  • Batteries (Bolt Jr+ and similar): Check battery condition and charge state. Batteries left uncharged for extended periods may have reduced capacity or may need replacement.
  • Connectors: Inspect all cable connectors for corrosion, bent pins, or loose connections. Reseat all connectors.
  • Encoder positions: Verify that encoder positions zero correctly at home. Extended storage can sometimes cause encoder drift on older systems.
  • Firmware: Confirm you are running the correct and current firmware for your rig.
  • End stops and limits: Verify axis hard limit switches are functioning before running fast moves.

After Extended Wet or Humid Storage

If the rig was stored in a humid or potentially damp environment:

  • Inspect all exposed metal surfaces for corrosion.
  • Check motor connectors for moisture ingress.
  • Allow the system to come to room temperature before powering up if it was cold.

Source: Returning a rig from hibernation/lockdown/long disuse — talk.mrmoco.com