发那科机械手减速器和齿轮盒润滑油的更换是保养过程中的重要环节，以下是详细的更换步骤：

1. 关闭发那科机械手的电源，确保机械手处于安全状态，防止在更换过程中发生意外。
2. 拔掉出油口塞子，这是为了让新的润滑油能够顺利流入并替换旧油。
3. 使用手动油枪从进油口处缓慢加入规定的润滑油。注意，避免使用工厂提供的压缩空气作为油枪的动力源，因为不恰当的压力和流量可能会损坏密封圈。如果确实需要使用，应确保压力控制在75Kgf/cm2以内，流量控制在15/ss以内。同时，务必使用规定的润滑油，因为其他类型的润滑油可能会损坏减速器。
4. 持续加油，直到出油口处有新的润滑油流出时，停止加油。
5. 让机械手被加油的轴反复转动，动作一段时间，直到没有油从出油口处流出。这一步是为了确保新的润滑油能够充分润滑到各个部分。
6. 把出油口的塞子重新装好，防止润滑油泄露。
7. 最后，为了防止滑倒事故的发生，应清除机器人和地板上的油迹。

请注意，错误的操作可能会导致密封圈损坏，因此操作人员在进行润滑油更换时，应严格按照上述步骤进行，并时刻注意操作的规范性。如果对操作过程有任何疑问，建议查阅相关的操作手册或咨询专业的技术人员。

The replacement of lubricating oil for FANUC manipulator reducer and gear box is an important part of the maintenance process, and the following are the detailed replacement steps:

Turn off the power of the FANUC manipulator to ensure that the manipulator is in a safe state and prevent accidents during the replacement process.
Pull out the outlet plug to allow the new oil to flow smoothly and replace the old one.
Use a manual oil gun to slowly add the prescribed lubricating oil from the oil inlet. Be careful not to use factory-supplied compressed air as the power source for the meter, as improper pressure and flow may damage the seal. If it is really necessary to use it, it should be ensured that the pressure is controlled within 75Kgf/cm2 and the flow rate is controlled within 15/ss. At the same time, it is important to use the prescribed lubricating oil, as other types of lubricating oil may damage the reducer.
Continue refueling until new lubricant flows out of the outlet, then stop refueling.
Let the manipulator be repeatedly rotated by the refueling shaft for a period of time until no oil flows out of the oil outlet. This step is to ensure that the new oil can be adequately lubricated to the various parts.
Reinstall the plug at the outlet to prevent oil leakage.
Finally, in order to prevent slip and fall accidents, oil stains should be removed from the robot and the floor.
Please note that incorrect operation may lead to damage to the seal, so the operator should strictly follow the above steps when changing the lubricating oil, and always pay attention to the standardization of the operation. If you have any questions about the operation process, it is recommended to consult the relevant operating manual or consult a professional technician.