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MOTOMAN-GP10 Maintenance Manual (R2)

  • Updated

i Before Using the Product

i.1 Introduction to This Manual

i.1.1 Applicable Products

i.1.2 Nameplate

i.1.3 Related Manuals

i.2 Notes for Safe Operation

i.2.1 Safety Information

i.2.2 Visual Aids

i.2.3 Important Safety Precautions

i.2.4 Warning Labels

i.3 Using This Manual

i.3.1 Terms

i.3.2 Trademarks

1 Maintenance and Inspection Precautions

1.1 Replacing Seal Parts

1.2 Internal Wiring Configuration

2 Home Position Return

2.1 Home Position Posture of the Manipulator

2.2 Type of Home Position Return Method

2.2.1 Method to Use the Check Job for Setting Home Positions

2.2.2 Compatibility Table for Home Position Return Method

2.3 Home Position Return Method

2.3.1 Method to Use the Check Job for Setting Home Positions

3 Grease Replenishment

3.1 Required Preparations

3.1.1 Precautions

3.1.2 Required Tools and Other Items

3.1.3 Grease Injection Amount

3.2 Replenishing the Grease in the S-Axis Speed Reducer

3.2.1 Part Names

3.2.2 Preparations before Grease Replenishment

3.2.3 Grease Replenishment Procedure for the S-Axis Speed Reducer

3.3 Replenishing the Grease in the L-Axis Speed Reducer

3.3.1 Part Names

3.3.2 Preparations before Grease Replenishment

3.3.3 Grease Replenishment Procedure for the L-Axis Speed Reducer

3.4 Replenishing the Grease in the U-Axis Speed Reducer

3.4.1 Part Names

3.4.2 Preparations before Grease Replenishment

3.4.3 Grease Replenishment Procedure for the U-Axis Speed Reducer

3.5 Replenishing the Grease in the R-Axis Speed Reducer

3.5.1 Part Names

3.5.2 Preparations before Grease Replenishment

3.5.3 Grease Replenishment Procedure for the R-Axis Speed Reducer

3.6 Replenishing the Grease in the B-Axis Speed Reducer

3.6.1 Part Names

3.6.2 Preparations before Grease Replenishment

3.6.3 Grease Replenishment Procedure for the B-Axis Speed Reducer

3.7 Replenishing the Grease in the T-Axis Speed Reducer

3.7.1 Part Names

3.7.2 Preparations before Grease Replenishment

3.7.3 Grease Replenishment Procedure for the T-Axis Speed Reducer

4 Motor Replacement

4.1 Required Preparations

4.1.1 Required Tools and Equipment

4.2 Replacing the S-Axis Motor

4.2.1 Part Names

4.2.2 Preparations before Replacement

4.2.3 Removing the S-Axis Motor

4.2.4 Mounting the S-Axis Motor

4.3 Replacing the L-Axis Motor

4.3.1 Part Names

4.3.2 Preparations before Replacement

4.3.3 Removing the L-Axis Motor

4.3.4 Mounting the L-Axis Motor

4.4 Replacing the U-Axis Motor

4.4.1 Part Names

4.4.2 Preparations before Replacement

4.4.3 Removing the U-Axis Motor

4.4.4 Mounting the U-Axis Motor

4.5 Replacing the R-Axis Motor

4.5.1 Part Names

4.5.2 Preparations before Replacement

4.5.3 Removing the R-Axis Motor

4.5.4 Mounting the R-Axis Motor

4.6 Replacing the B-Axis Motor

4.6.1 Part Names

4.6.2 Preparations before Replacement

4.6.3 Removing the B-Axis Motor

4.6.4 Mounting the B-Axis Motor

4.7 Replacing the T-Axis Motor

4.7.1 Part Names

4.7.2 Preparations before Replacement

4.7.3 Removing the T-Axis Motor

4.7.4 Mounting the T-Axis Motor

5 Speed Reducer Replacement

5.1 Required Preparations

5.1.1 Required Tools and Equipment

5.2 Replacing the S-Axis Speed Reducer

5.2.1 Part Names

5.2.2 Preparations before Replacement

5.2.3 Removing the S-Axis Speed Reducer

5.2.4 Mounting the S-Axis Speed Reducer

5.3 Replacing the L-Axis Speed Reducer

5.3.1 Part Names

5.3.2 Preparations before Replacement

5.3.3 Removing the L-Axis Speed Reducer

5.3.4 Mounting the L-Axis Speed Reducer

5.4 Replacing the U-Axis Speed Reducer

5.4.1 Part Names

5.4.2 Preparations before Replacement

5.4.3 Removing the U-Axis Speed Reducer

5.4.4 Mounting the U-Axis Speed Reducer

5.5 Replacing the R-Axis Speed Reducer

5.5.1 Part Names

5.5.2 Preparations before Replacement

5.5.3 Removing the R-Axis Speed Reducer

5.5.4 Mounting the R-Axis Speed Reducer

5.6 Replacing the B-Axis Speed Reducer

5.6.1 Part Names

5.6.2 Preparations before Replacement

5.6.3 Removing the B-Axis Speed Reducer

5.6.4 Mounting the B-Axis Speed Reducer

5.7 Replacing the T-Axis Speed Reducer

5.7.1 Part Names

5.7.2 Preparations before Replacement

5.7.3 Removing the T-Axis Speed Reducer

5.7.4 Mounting the T-Axis Speed Reducer

6 Wrist Unit Replacement

6.1 Required Preparations

6.1.1 Required Tools and Equipment

6.2 Wrist Unit Replacement

6.2.1 Part Names

6.2.2 Preparations before Replacement

6.2.3 Removing the Wrist Unit

6.2.4 Mounting the Wrist Unit

7 Timing Belt Replacement and Adjustment

7.1 Required Preparations before Replacing a Timing Belt

7.1.1 Required Tools and Equipment

7.2 Replacing the R-Axis Timing Belt

7.2.1 Part Names

7.2.2 Preparations before Replacement

7.2.3 Removing the R-Axis Timing Belt

7.2.4 Attaching the R-Axis Timing Belt

7.3 Replacing the B-Axis Timing Belt

7.3.1 Part Names

7.3.2 Preparations before Replacement

7.3.3 Removing the B-Axis Timing Belt

7.3.4 Attaching the B-Axis Timing Belt

7.4 Replacing the T-Axis Timing Belt

7.4.1 Part Names

7.4.2 Preparations before Replacement

7.4.3 Removing the T-Axis Timing Belt

7.4.4 Attaching the T-Axis Timing Belt

7.5 Timing Belt Adjustment

7.5.1 Precautions during Timing Belt Adjustment

7.5.2 Required Tools and Equipment

7.5.3 Adjusting the R-Axis Timing Belt

7.5.4 Adjusting the B-Axis Timing Belt

7.5.5 Adjusting the T-Axis Timing Belt

8 Battery Unit Replacement

8.1 Battery Unit Replacement Procedures

8.1.1 Location of the Battery Unit

8.1.2 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal Times)

8.1.3 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF

9 Internal Cable Replacement

9.1 Required Preparations

9.1.1 Required Tools and Equipment

9.2 Replacing the S-Axis Internal Wiring Harness

9.2.1 Part Names

9.2.2 Preparations before Replacement

9.2.3 Removing the S-Axis Internal Wiring Harness

9.2.4 Mounting the S-Axis Internal Wiring Harness

9.3 Replacing the L-/U-Axis Internal Wiring Harness

9.3.1 Part Names

9.3.2 Preparations before Replacement

9.3.3 Removing the L-/U-Axis Internal Wiring Harness

9.3.4 Mounting the L-/U-Axis Internal Wiring Harness

9.4 Replacing the R-/B-/T-Axis Internal Wiring Harness

9.4.1 Part Names

9.4.2 Preparations before Replacement

9.4.3 Removing the R-/B-/T-Axis Internal Wiring Harness

9.4.4 Mounting the R-/B-/T-Axis Internal Wiring Harness

10 Parts Lists

10.1 S-Axis Drive Part

10.2 L-/U-Axis Drive Part

10.3 R-Axis Drive Part

10.4 B-/T-Axis Drive Part

A Grease Information

A.1 Grease Product Names and Intended Usage

A.2 Safety Data Sheets

A.2.1 Speed Reducer Grease

A.2.2 Oil Seal Grease

A.2.3 Internal Cable Grease

Revision History

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