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N6 Series
Epson N6 Series User Manual
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Maintenan
ce
7. Boards
N6 Rev
.2
331
7.1
Replacing the
Control Board 1
7.1.1 N6
-
A1000**
(Contr
ol Boar
d
1)
Rem
oval
(1)
T
urn OFF
the
contr
oller
.
Control Boar
d 1
(2)
Remove
the
Jo
int #
2
outsi
de cover
.
Cross rece
ssed bind
ing hea
d machine
screw
s
:
3-
M4
×8
(3)
Disconnect
the connect
or connected t
o the cont
rol
board 1.
Connector
: GS01
(4)
Remov
e the control boar
d
1.
Cross rece
ssed bind
ing hea
d machine
screw
s
:
3-
M3
×
6
342
344
Table of Contents
Default Chapter
9
Table of Contents
9
Safety
15
Conventions
15
Design and Installation Safety
16
Operation Safety
17
Emergency Stop
19
How to Move Arms with the Electromagnetic Brake
21
Arm Motion
22
Precaution for Operation in Low Power Status
23
Warning Labels
24
Location of Labels
26
Specifications
28
Model Number
28
Part Names
29
Outer Dimensions
32
Basic Orientation
32
Orientation with the Maximum Arm Length
35
Standard Motion Range
36
Specifications
38
Specifications Table
38
How to Set the Model
41
Environment and Installation
42
Environmental Conditions
42
Unpacking, Transportation, and Relocation
43
Mounting Dimensions
47
Mounting Area
47
Motion Range
49
Installation
53
Base Table
56
Connecting the Cables
58
User Wires and Pneumatic Tubes
60
Electrical Wires
61
Pneumatic Tubes
61
Checking the Basic Orientation
62
End Effectors
64
Attaching an End Effector
64
Attaching Camera and Valves
65
WEIGHT and INERTIA Settings
67
WEIGHT Setting
69
INERTIA Setting
72
Precautions for Auto Acceleration/Deceleration
76
Motion Range
77
Motion Range Setting by Pulse Range (for each Joint)
77
Max. Pulse Range: N6-A1000
78
Max. Pulse Range: N6-A850**R
81
Restriction of Manipulator Operation
84
Coordinate System
88
How to Use Orientation Flag
89
N6-A1000
89
Command: "Autoorientationflag
90
Changing the Robot
91
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
92
Options
93
Brake Release Unit
93
Mount the Brake Release Unit
95
Remove the Brake Release Unit
96
How to Use the Brake Release Unit
97
Camera Plate Unit
98
Tool Adapter (ISO Flange)
101
User Wiring
102
M/C Cable
102
Maintenance
103
Safety Maintenance
105
General Maintenance
106
Maintenance Inspection
106
Schedule for Maintenance Inspection
106
Inspection Point
107
Overhaul (Parts Replacement)
109
Greasing
111
Joint #1 Reduction Gear Unit
113
Joint #2 Reduction Gear Unit
114
Joint #3 Reduction Gear Unit
115
Joint #4 Reduction Gear Unit
116
Joint #5 Reduction Gear Unit
117
Joint #6 Reduction Gear Unit
118
Joint #6 Bevel Gear
119
Tightening Hexagon Socket Head Bolts
120
Layout of Maintenance Parts
121
Covers
122
Base Cover
126
Joint #1 Cover
128
N6-A1000** (Joint #1 Cover)
128
N6-A850**R (Joint #1 Cover)
130
Joint #1 Inside Cover
132
N6-A1000** (Joint #1 Inside Cover)
132
N6-A850**R (Joint #1 Inside Cover)
133
Arm #1 Inside Cover
134
N6-A1000** (Arm #1 Inside Cover)
134
N6-A850**R (Arm #1 Inside Cover)
135
Joint #2 Outside Cover
136
Joint #2 Cover
137
N6-A1000** (Joint #2 Cover)
137
Arm #2 Cover (Arm #1 Side)
139
N6-A1000** (Arm #2 Cover, Arm #1 Side)
139
N6- A850**R (Arm #2 Cover, Arm #1 Side)
142
Arm #2 Cover (Arm #3 Side)
144
Arm #3 Inside Cover
149
Arm #3 Cover
151
Joint #4 Side Cover
152
Joint #4 Inside Cover
154
Joint #4 Outside Cover
156
Arm #4 Side Cover
157
Arm #4 Cable Cover
159
Cable
160
Replacing the Cable Unit (N6-A1000*)
160
Cable Direction: Standard (Backward)
160
Replacing the Cable Unit (N6-A1000*B)
196
Cable Direction: Upward and Downward
196
Replacing the Cable Unit (N6-A850*R)
205
Cable Direction: Standard (Backward)
205
Replacing the Cable Unit (N6-A850*Br):Cable Direction: Upward
241
Relay Cable
250
Relay Cable 1
252
Relay Cable 2
264
M/C Cable
266
Connector Pin Assignment
273
Signal, Power Cable
274
User Cable
276
Actuator Units
277
Replacing the Joint #1 Actuator Unit
278
Joint #1 (N6-A1000*): Cable Direction: Standard (Backward)
279
Joint #1 (N6-A1000*B): Cable Direction
283
Upward and Downward
283
Joint #1 (N6-A850*R): Cable Direction: Standard (Backward)
286
Joint #1 (N6-A850*BR): Cable Direction: Upward
289
Replacing the Joint #2 Actuator Unit
292
Joint #2 (N6-A1000**)
294
Joint #2 (N6-A850**R)
296
Replacing the Joint #3 Actuator Unit
298
Joint #3 (N6-A1000**)
299
Joint #3 (N6-A850**R)
302
Replacing the Joint #4 Actuator Unit
305
Joint #5
310
Replacing the Joint #5 Motor Unit
310
Replacing the Joint #5 Timing Belt
316
Replacing the Joint #5 Electromagnetic Brake
319
Joint #6
320
Replacing the Joint #6 Motor Unit
320
Replacing the Joint #6 Timing Belt
326
Replacing the Joint #6 Electromagnetic Brake
329
Joint #5 and #6 Units
330
Battery
335
Replacing the Battery Unit (Lithium Metal Battery)
337
Replacing the Battery Board
339
Boards
341
Replacing the Control Board 1
343
N6-A1000** (Control Board 1)
343
N6-A850**R (Control Board 1)
345
Replacing the Control Board 2
347
Replacing the Encoder Board 1
349
Replacing the Encoder Board 2
352
Replacing the Encoder Board 3
354
Replacing the Encoder Board 4
356
Replacing the Brake Board
358
Replacing the LED Board
360
Replacing the LED Plate
362
Calibration
364
Overview
364
Calibration Procedure
370
Maintenance Parts List
374
4
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Epson N6 Series Specifications
General
Brand
Epson
Model
N6 Series
Category
Robotics
Language
English
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