MOTOMAN-MS165 MAINTENANCE MANUAL (R11)

August 12, 2026 19:58
Updated

2 Notes for Maintenance

2.1 Battery Pack Connection for Motor

3 Home Position Return

3.1 Home Position Return after Motor Replacement

3.1.1 Home Position Return by Zeroing Function

3.1.2 Home Position Return by Robot Calibration (MOTOCALV EG)

3.1.3 Home Position Return by Setting Teaching Point for Home Position Setting before Motor Replacement

3.1.3.1 Preparation before Motor Replacement

3.1.3.2 Motor Replacement

3.1.3.3 Home Position Adjustment

4 L-Axis Fixing Jig

4.3 Fixing Jig Installation

4.3.1 Installation Posture and Position of L-axis Fixing Jig (L-axis Posture: -60° to +20°)

4.3.2 Installation Posture and Position of L-axis Fixing Jig (L-axis Posture: +20° to +76°)

4.3.3 Recommended Mounting Posture

4.4 Assembly and Disassembly

4.4.1 Assembly and Disassembly (L-axis Posture: -60° to +20°)

4.4.2 Assembly and Disassembly (For L-axis Posture: +20° to +76°)

5 Grease Filling/Exchange

5.1 Notes on Grease Filling/Exchange Procedures

5.2 List of Necessary Items

5.3 Grease Filling/Exchange

5.3.1 Grease Filling/Exchange for S-, L-, U-, R-, B-, and T-axis Speed Reducer

5.3.2 Grease Replenishment for Gas Balancer Link Part

6 Gas Maintenance Procedure in the Gas Balancer

6.1 Notes on Gas in the Gas Balancer Maintenance Procedure

6.2 Gas Pressure Inspection

6.2.1 Adequate Gas Pressure

6.2.2 Necessary Devices

6.2.3 Inspection Procedures

6.3 Gas Discharging Procedures

6.3.1 Necessary Devices

6.3.2 Gas Discharging Procedure

6.3.2.1 When Discharging All Gas

6.3.2.2 When Discharging Gas for Adjusting Pressure

6.4 Gas Injecting Procedure

6.4.1 Necessary Devices

6.4.2 Gas Injecting Procedures

7 Removing, Applying, Assembling of Sealing Bond

7.1 Removing Sealing Bond from Sealing Surface and Cleaning

7.2 Applying Sealing Bond to Sealing Surface

7.3 Assembling After Applying Sealing Bond

8 Disassembly and Reassembly of Motors

8.1 Disassembly and Reassembly of S-Axis Motor

8.2 Disassembly and Reassembly of L-Axis Motor

8.3 Disassembly and Reassembly of U-Axis Motor

8.4 Disassembly and Reassembly of R-, B-, T-Axis Motor

9 Disassembly and Reassembly of Speed Reducer

9.1 Disassembly and Reassembly of S-Axis Speed Reducer

9.2 Disassembly and Reassembly of L-Axis Speed Reducer

9.3 Disassembly and Reassembly of U-Axis Speed Reducer

9.4 Disassembly and Reassembly of R-Axis Speed Reducer

9.5 Disassembly and Reassembly of B-Axis Speed Reducer

9.6 Disassembly and Reassembly of T-Axis Speed Reducer

10 Cable Wiring

10.1 Cable Disconnection

10.2 Cable Connection

11 Disassembly and Reassembly of Wrist Unit

12 Gas Balancer Replacement

12.1 Replacing the Gas Balancer

12.2 Necessary Parts

12.3 Disassembling the Gas Balancer

12.4 Reassembling the Gas Balancer

12.5 Procedures for Mounting the Dust Seal

13 Battery Pack Replacement

14.1 S-Axis Unit

14.2 L-Axis Unit

14.3 URBT-Axes Unit

14.4 U-Arm Unit

14.5 Wrist Unit

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