Table of Contents
viii N6 Rev.2
4.4 Precautions for Auto Acceleration/Deceleration .................................. 64
5. Motion Range 65
5.1 Motion Range Setting by Pulse Range (for Each Joint) ...................... 65
5.1.1 Max. Pulse Range: N6-A1000** ............................................... 66
5.1.2 Max. Pulse Range: N6-A850**R .............................................. 69
5.2 Restriction of Manipulator Operation ................................................... 72
5.3 Coordinate System ............................................................................... 76
5.4 How to Use Orientation Flag ................................................................ 77
N6-A1000** .......................................................................................... 77
Command: “AutoOrientationFlag” ........................................................ 78
5.5 Changing the Robot ............................................................................. 79
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ................................ 80
6. Options 81
6.1 Brake Release Unit .............................................................................. 81
Mount the brake release unit ............................................................... 83
Remove the brake release unit ............................................................ 84
How to use the brake release unit ....................................................... 85
6.2 Camera Plate Unit ................................................................................ 86
6.3 Tool Adapter (ISO Flange) ................................................................... 89
6.4 User Wiring........................................................................................... 90
6.5 M/C Cable ............................................................................................ 90
Maintenance
1. Safety Maintenance 93
2. General Maintenance 94
2.1 Maintenance Inspection ....................................................................... 94
2.1.1 Schedule for Maintenance Inspection ...................................... 94
2.1.2 Inspection Point ........................................................................ 95
2.2 Overhaul (Parts Replacement) ............................................................ 97
2.3 Greasing ............................................................................................... 99
2.3.1 Joint #1 Reduction Gear Unit ................................................. 101
2.3.2 Joint #2 Reduction Gear Unit ................................................. 102
2.3.3 Joint #3 Reduction Gear Unit ................................................. 103
2.3.4 Joint #4 Reduction Gear Unit ................................................. 104
2.3.5 Joint #5 Reduction Gear Unit ................................................. 105
2.3.6 Joint #6 Reduction Gear Unit ................................................. 106
2.3.7 Joint #6 Bevel Gear ................................................................ 107
2.4 Tightening Hexagon Socket Head Bolts ............................................ 108
2.5 Layout of Maintenance Parts ............................................................. 109
3. Covers 110
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