Maintenance 5. Actuator Units
N6 Rev.2 309
Removal
(1)
Joint #6
Motor Unit
(2)
Release the brake on the Joint #2 and Joint #3.
> brake off, 2
> brake off, 3
When releasing the brake, be careful of the arm falling due to its own weight.
(3)
Move the angles of the Arm #2 and the Arm #3 about 30 degrees from the origin
positions.
(4)
(5)
Remove the Arm #4 side cover (2 covers).
For details, refer to Maintenance 3. Covers.
(6)
the cables.
Be careful not to cut the cables.
(7)
Disconnect the connectors.
Connectors: PW6, BR6, EB0x_CN2 (Joint #6 motor side)
(8)
Remove the bolts fixing the Arm #4 and the
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.
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