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MOTOMAN-MH50 II-20 MAINTENANCE MANUAL (R2)

  • Updated

1 Introduction

2 Notes for Maintenance

2.1 Battery Pack Connection

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 Grease Replenishment and Exchange

4.1 Notes on Grease Replenishment and Exchange Procedures

4.2 Grease Replenishment and Exchange for S-Axis Speed Reducer

4.2.1 Grease Replenishment

4.2.2 Grease Exchange

4.3 Grease Replenishment and Exchange for L-Axis Speed Reducer

4.3.1 Grease Replenishment

4.3.2 Grease Exchange

4.4 Grease Replenishment and Exchange for U-Axis Speed Reducer

4.4.1 Grease Replenishment

4.4.2 Grease Exchange

4.5 Grease Replenishment and Exchange for R-Axis Speed Reducer

4.6 Grease Replenishment for B-Axis Speed Reducer

4.7 Grease Replenishment for T-Axes Speed Reducer

4.8 Grease Replenishment for T-Axis Gear

4.9 Grease Replenishment for R-axis Tapered Roller Bearing

5 Disassembly and Reassembly of Motors

5.1 Disassembly and Reassembly of S-Axis Motor

5.2 Disassembly and Reassembly of L-Axis Motor

5.3 Disassembly and Reassembly of U-Axis Motor

5.4 Disassembly and Reassembly of R-Axis Motor

5.5 Disassembly and Reassembly of B-Axis Motor

5.6 Disassembly and Reassembly of T-Axis Motor

6 Disassembly and Reassembly of Speed Reducer

6.1 Disassembly and Reassembly of S-Axis Speed Reducer

6.2 Disassembly and Reassembly of L-Axis Speed Reducer

6.3 Disassembly and Reassembly of U-Axis Speed Reducer

6.4 Disassembly and Reassembly of R-Axis Speed Reducer

6.5 Disassembly and Reassembly of B-Axis Speed Reducer

6.6 Disassembly and Reassembly of T-Axis Speed Reducer

7 Disassembly and Reassembly of Wrist Unit

8 Adjustment of R-, B- and T-axes Timing Belts

8.1 R-axis

8.2 B- and T-axes

8.2.1 B-axis

8.2.2 T-Axis

9 Battery Pack Replacement

10 Cable Wiring

10.1 Disconnecting Cables

10.1.1 Wrist Unit

10.1.2 Casing

10.1.3 L-arm and S-head

10.1.4 Base

10.2 Connecting Cables

10.2.1 Base

10.2.2 L-arm and S-head

10.2.3 Casing

10.2.4 Wrist Unit

11 Parts List

11.1 S-Axis Unit

11.2 L-Axis Unit

11.3 U-Axis Unit

11.4 R-Axis Unit

11.5 Wrist Unit

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