I just checked with our technical support engineers, and they said the bearings are pre-oiled when they come from the factory. Initially, they don't need any additional oiling, but when you do maintenance, it can't harm to apply some drops of unilube sewing machine oil on them, which comes with the Ultimaker, if you feel the beds movement is becoming a little bit more stiff.
Basically, you can apply this oil on all smooth axles, and you should apply magnalube on the threaded Z rod.
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peetersm 124
I think in practice the z-shafts and shafts that hold the print head need less oil as routine maintenance. I do feel like I am cleaning and putting oil on the X-Y shafts a lot, like every 10-15 print hours, because they start to feel "dry". But the z-shafts seem to be fine for months and keep their nice oily sheen, probably because they have so little movement compared to the X-Y shafts. also the bars that hold the print head seem to need less oiling, I'm guessing since they don't have the added rotational movements.
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