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MOTOMAN-MH165, MH200, MH215, MH250 MAINTENANCE MANUAL (R3)

  • Updated

1 Introduction

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

4.1 Fixing Jig

4.1.1 Installation Posture and Position of Special Jig

4.2 Installation

4.2.1 MH165

4.3 Removal

4.3.1 MH165

4.4 Mechanism

5 Grease Replenishment and Exchange

5.1 Notes on Grease Replenishment and Exchange Procedures

5.2 Grease Replenishment and Exchange for S-Axis Speed Reducer and Gear

5.2.1 Grease Replenishment

5.2.2 Grease Exchange

5.3 Grease Replenishment and Exchange for L-Axis Speed Reducer

5.3.1 Grease Replenishment

5.3.2 Grease Exchange

5.4 Grease Replenishment and Exchange for U-Axis Speed Reducer

5.4.1 Grease Replenishment

5.4.2 Grease Exchange

5.5 Grease Replenishment and Exchange for U-Arm

5.5.1 Grease Replenishment for R-, B-, T-Axes Gears in Casing

5.5.2 Grease Replenishment for R-Axis Speed Reducer

5.5.3 Grease Replenishment for B-Axis Speed Reducer

5.5.4 Grease Replenishment for T-Axis Speed Reducer

5.5.5 Grease Exchange for R-, B-, T-Axes Gears in Casing

5.5.6 Grease Exchange for R-Axis Speed Reducer

5.5.7 Grease Exchange for B-Axis Speed Reducer

5.5.8 Grease Exchange for T-Axis Speed Reducer

5.6 Grease Replenishment for Balancer Link

6 Disassembly and Reassembly of Motors

6.1 Disassembly and Reassembly of S-Axis Motor

6.2 Disassembly and Reassembly of L-Axis Motor

6.3 Disassembly and Reassembly of U-Axis Motor

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

7 Disassembly and Reassembly of Speed Reducer

7.1 Disassembly and Reassembly of S-Axis Speed Reducer

7.2 Disassembly and Reassembly of L-Axis Speed Reducer

7.3 Disassembly and Reassembly of U-Axis Speed Reducer

7.4 Disassembly and Reassembly of R-Axis Speed Reducer

7.5 Disassembly and Reassembly of B-Axis Speed Reducer

7.6 Disassembly and Reassembly of T-Axis Speed Reducer

8 Disassembly and Reassembly of Wrist Unit

9 Balancer Unit Replacement

9.1 Necessary Parts

9.2 Preparation

9.3 Unit Assembly

9.3.1 Balancer Unit

9.3.2 Shaft Assembly (Knuckle Part)

9.3.3 Shaft Assembly (Support Part)

9.4 Parts List

9.5 Balancer Unit Removal

9.6 Balancer Unit Installation

9.7 Balancer Installation Diagram

10 Battery Pack Replacement

11 Parts List

11.1 MH165

11.1.1 S-Axis Unit

11.1.2 L-Axis Unit

11.1.3 U-, R-, B-, T-Axis Unit

11.1.4 U-Arm Unit

11.1.5 Wrist Unit

11.1.6 Balancer Unit

11.2 MH200

11.2.1 S-Axis Unit

11.2.2 L-Axis Unit

11.2.3 URBT-Axes Unit

11.2.4 U-Arm Unit

11.2.5 Wrist Unit

11.2.6 Balancer Unit

11.3 MH215, MH250

11.3.1 S-Axis Unit

11.3.2 L-Axis Unit

11.3.3 URBT-Axes Unit

11.3.4 U-Arm Unit

11.3.5 Wrist Unit

11.3.6 Balancer Unit

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