Epson N6 Series - Page 207

Maintenance 4. Cable
N6 Rev.2 195
The
subsequent steps are described with the standard model’s cable unit.
For cleanroom model, a yellow air tube is included in the cable unit.
Removal
Cable Unit
Cable direction
(N6
-A850*R)
Standard
(backward)
(1)
Mount
the ceiling mounted robot to the table top.
Be sure to have at least 2 people to perform the operation since the
Manipulator is
h
eavy.
(2)
Remove the following covers:
Arm #4 side cover (2 covers)
Joint #4 inside cover Joint #4 outside cover Joint #4 side covers (2 covers)
Arm #3 cover Arm #3 inside cover Arm #2 cover (2 covers)
Joint #2 outside cover Arm #1 inside cover
Arm #1 outside cover Joint #1 cover Base cover
For details, refer to
Maintenance 3. Covers.
*
Remove the Arm #1 outside cover simultaneously with the Joint #1 cover.
(3)
Turn ON the Controller.
(4)
Release the brakes of each joint and move the Manipulator to the orientation as
shown
below.
EPSON
RC+
Command
>Brake off, [the number (from 2 to 6) corresponding to the arm
whose brake will be turned off]
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
+90
°
+90
°
−
90°
0
°
0
°
0°
When releasing the brake, the arm may rotate
by its own weight.
Normally, release the brake of joints one by one.
Take extra care if you need to
release the brakes of two or more joints simultaneously.
Releasing the brakes of
two or
more joints simultaneously may cause hands and fingers to be caught and/or
equipment damage to or malfunction of the Manipulator as the arms of the
Manipulator may move in unexpected directions.
(
5)
Brake each joint.
EPSON
RC+
Command
>Brake On,
[The number (from 2 to 6) corresponding to the arm
whose brake will be turned on]

NOTE

NOTE

NOTE

NOTE