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Removal
(1) Turn ON the Controller.
Joint #6
(2) Release the brake on the Joint #2 and Joint #3.
Motor Unit
NOTE
(3)
(4) Turn OFF the Controller.
(5) Remove the Arm #4 side cover (2 covers).
(6) Cut off the cable tie of the cables.
NOTE
(7) Disconnect the connectors.
(8) Remove the bolts fixing the Arm #4 and the
NOTE
N6 Rev.2
Command
EPSON
RC+
> brake off, 2
> brake off, 3
When releasing the brake, be careful of the arm falling due to its own weight.
Move the angles of the Arm #2 and the Arm #3 about 30 degrees from the origin
positions.
N6-A1000**
For details, refer to Maintenance 3. Covers.
Be careful not to cut the cables.
Connectors: PW6, BR6, EB0x_CN2 (Joint #6 motor side)
Joint #6 motor unit. Then, remove the timing
belt of the Joint #6 motor unit and the Joint #6.
Hexagon socket head cap bolts: 2-M4×15
(with plain washer for slotted hole
thickness: 1.5mm)
If a heavy part such as end effector is installed on the end of the Manipulator, the
Arm #6 flange will move. Be very careful.
Maintenance 5. Actuator Units
N6-A850**R
309
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