MOTOMAN-PL190 INSTRUCTIONS (R3)

September 03, 2026 20:32
Updated

1 Product Confirmation

1.1 Contents Confirmation

1.2 Order Number Confirmation

2.1 Transport Method

2.1.1 Using a Crane

2.1.2 Using a Forklift

2.2 Shipping Bracket

2.3 Cushioning Brackets for Transport

3.1 Installation of the Safety Fence

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting Example

3.3 Mounting Method

3.5 Notes on Dust-Proof/Waterproof Specifications

4.2 Cable Connection

5 Basic Specifications

5.1 Basic Specifications

5.2 Part Names and Working Axes

5.3 Dimensions and T-Point Maximum Envelope

5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4.1 General Information

5.4.2 Definition of Use

5.4.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes

5.4.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes

5.4.4.1 Extension

5.4.4.2 Stopping Distance and Time for Stop Category 1: S-axis

5.4.4.3 Stopping Distance and Time for Stop Category 1: L-axis

5.4.4.4 Stopping Distance and Time for Stop Category 1: U-axis

5.5 Alterable Operating Range

5.5.1 Components for Altering Operating Range

5.5.2 Notes on the Mechanical Stopper Installation

5.5.3 Adjustment to the Pulse Limitation of S-Axis

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6.2 Wrist Flange

6.3 Levelness of the Wrist Flange

7 System Application

7.1 Peripheral Equipment Mounts

7.1.1 Allowable Load

7.1.2 Installation Position

7.2 Internal User I/O Wiring Harness and Air Hose

7.3 Mating Connector for Internal User I/O Wiring Harness (Optional)

7.4 Hollow-Shaft Structure of the Wrist Part

7.5 How to Wire Fieldbus Cable inside Manipulator

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.2 Internal Connections

9 Maintenance and Inspection

9.1 Inspection Schedule

9.2 Notes for Maintenance

9.2.1 Multi-Port Connector

9.3 Notes on Maintenance Procedures

9.3.1 Home Position Check

9.3.2 Seeped Oil Check

9.3.3 L- and U-axis Motors

9.3.4 Battery Pack Replacement

9.4 Notes on Grease Replenishment/Exchange Procedures

9.4.1 Grease Exchange Procedures for Gear of Each Axis Speed Reducer

9.4.1.1 Notes on Grease Exchange Procedures

9.4.1.2 Grease Exchange Procedure

9.4.1.3 Grease Replenishment for U-axis Cross Roller Bearing Part

9.4.1.4 Grease Replenishment for Links

9.4.1.5 Grease Replenishment for Balancer Link Part

10 Recommended Spare Parts

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