MOTOMAN-GP180 MAINTENANCE MANUAL (R3)

August 28, 2026 19:44
Updated

2 Notes for Maintenance

2.1 Details of Internal Connections

2.2 Multi-Port Connector

3 Home Position Return

3.1 Home Position Posture of Manipulator

3.2 Types of Methods for Home Position Return

3.2.1 Using a Teaching Point for Setting the Home Position

3.2.2 Using Keys

3.2.3 Using Encoder Backup Error Recovery Function

3.2.4 Robot Calibration (MOTOCALV EG)

3.2.5 Table of Suitable Methods for Home Position Return

3.3 Methods for Home Position Return

3.3.1 Using a Teaching Point for Setting the Home Position

3.3.1.1 Preparation

3.3.1.2 Replacement of Motor or Speed Reducer

3.3.1.3 Home Position Adjustment

3.3.2 Using Keys

3.3.3 Using Encoder Backup Error Recovery Function

3.3.4 Robot Calibration (MOTOCALV EG)

4 L-Axis Fixing Jig

4.3 Fixing Jig Installation

4.3.1 Installation Posture and Position of L-axis Fixing Jig (When the posture of the L-axis is -60° to +20°)

4.3.2 Installation Posture and Position of L-axis Fixing Jig (When the posture of the L-axis is +20° to +76°)

4.3.3 Recommended Installation Posture

4.4 Installation and Removal of the L-axis Fixing Jig

4.4.1 L-axis Posture: -60° to +20°

4.4.2 L-axis Posture: +20° to +76°

5 Notes on Grease Replenishment/Exchange Procedures

5.1 Notes on Grease Exchange Procedures

5.2 Grease Exchange Procedures for Gear of Each Axis Speed Reducer

5.3 Grease Replenishment for Gas Balancer Link Part

6 Gas Maintenance Procedure in the Gas Balancer

6.1 Notes on Gas Maintenance Procedure in the Gas Balancer

6.2 Gas Pressure Inspection

6.2.1 Adequate Gas Pressure

6.2.2 Necessary Device

6.2.3 Inspection Procedures

6.3 Gas Discharging Procedure

6.3.1 Necessary Devices

6.3.2 Gas Discharging Procedure

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 the Motor

8.1 Disassembly and Reassembly of the S-Axis Motor

8.2 Disassembly and Reassembly of the L-Axis Motor

8.3 Disassembly and Reassembly of the U-Axis Motor

8.4 Disassembly and Reassembly of the 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 Disassembly and Reassembly of Wrist Unit

11 Cable Wiring

11.1 Disassembly and Reassembly of Internal Wiring Harness

12 Gas Balancer Replacement

12.1 Replacing the Gas Balancer

12.2 Necessary Parts

12.3 Disassembly and Reassembly the Gas Balancer

12.4 Procedures for Mounting the Dust Seal

13 Battery Pack Replacement

14.1 S-Axis Unit

14.2 L-Axis Unit

14.3 U-, R-, B-, T-Axes Unit

14.4 U-Arm Unit

14.5 Wrist Unit

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