Epson N6 Series Manipulator Manual page 12

Table of Contents
6. Battery
7. Boards
8. Calibration
9. Maintenance Parts List
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5.1.2 Joint #1 (N6-A1000*B): Cable direction:
Upward and Downward ........................................................... 271
5.1.3 Joint #1 (N6-A850*R):
Cable direction: Standard (backward) .................................... 274
5.1.4 Joint #1 (N6-A850*BR):
Cable direction: Upward .......................................................... 277
5.2 Replacing the Joint #2 Actuator Unit .................................................. 280
5.2.1 Joint #2 (N6-A1000**) ............................................................ 282
5.2.2 Joint #2 (N6-A850**R) ............................................................ 284
5.3 Replacing the Joint #3 Actuator Unit .................................................. 286
5.3.1 Joint #3 (N6-A1000**) ............................................................ 287
5.3.2 Joint #3 (N6-A850**R) ............................................................ 290
5.4 Replacing the Joint #4 Actuator Unit .................................................. 293
5.5 Joint #5 ............................................................................................... 298
5.5.1 Replacing the Joint #5 Motor Unit .......................................... 298
5.5.2 Replacing the Joint #5 Timing Belt......................................... 304
5.5.3 Replacing the Joint #5 Electromagnetic Brake ...................... 307
5.6 Joint #6 ............................................................................................... 308
5.6.1 Replacing the Joint #6 Motor Unit .......................................... 308
5.6.2 Replacing the Joint #6 Timing Belt......................................... 314
5.6.3 Replacing the Joint #6 Electromagnetic Brake ...................... 317
5.7 Joint #5 and #6 Units ......................................................................... 318
6.1 Replacing the Battery Unit (Lithium Metal Battery)............................ 325
6.2 Replacing the Battery Board .............................................................. 327
7.1 Replacing the Control Board 1 ........................................................... 331
7.1.1 N6-A1000** (Control Board 1) ............................................... 331
7.1.2 N6-A850**R (Control Board 1) ............................................... 333
7.2 Replacing the Control Board 2 ........................................................... 335
7.3 Replacing the Encoder Board 1 ......................................................... 337
7.4 Replacing the Encoder Board 2 ......................................................... 340
7.5 Replacing the Encoder Board 3 ......................................................... 342
7.6 Replacing the Encoder Board 4 ......................................................... 344
7.7 Replacing the Brake Board ................................................................ 346
7.8 Replacing the LED Board .................................................................. 348
7.9 Replacing the LED Plate .................................................................... 350
8.1. Overview ........................................................................................... 352
8.2. Calibration Procedure ....................................................................... 358
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N6 Rev.2