Installing the Hand

The hand (end effector) must be prepared by the customer. For details on attaching the hand, refer to the following manual.
"Hand Function Manual"

Flange dimensions of the wrist attached to the end of Arm #6 is as below.

WARNING

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• Before attaching a hand or peripheral equipment, be sure to always turn off the Controller and related equipment and unplug the power cables. Performing any work procedure with the power turned on is extremely dangerous and may result in electric shock and/or malfunction of the robot system.

CAUTION

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• When the hand is equipped with a workpiece gripping mechanism, ensure that the wiring and pneumatic tubes do not cause the hand to release the workpiece when the power is turned off. When the wiring and pneumatic tubes are not designed for the hand to maintain its grip on the workpiece when the power is turned off, pressing the emergency stop switch releases the workpiece, which may damage the robot system and the workpiece.

  By default, all I/Os are designed to automatically turn off (0) when the power is shut off, when an emergency stop is triggered, or by the robot system's safety function.

  However, I/Os set with the Hand function does not turn off (0) when executing the Reset statement, or when performing an emergency stop.

  For the risk of the residual air pressure, conduct a risk assessment on the equipment and take the necessary protective measures.

Wrist flange

* Applicable area

Arm #6
Attach the hand to the end of the Arm #6 using the M4 bolts.

Layout
When attaching and operating a hand, the hand may come into contact with the Manipulator body due to the outer diameter of the hand, the size of the workpiece, or the position of the arm. Carefully consider the interference area of the hand when designing the system layout.

Compatibility with PS series or ISO flange
To install the hand used in the PS series or the hand which has flange conforming to ISO standard to the C4 series, we provide the optional PS Compatible Plate. For details, refer to the following section.
Options