Installing the Hand

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

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.

Shaft

• Attach the hand to the lower end of the shaft.
  For the layout dimensions in the area around the shaft and the overall dimensions of the Manipulator, refer to the following section.
  Names of Parts and Their Dimensions

• Do not move the upper limit mechanical stop on the lower side of the shaft. When performing a Jump operation, the upper limit mechanical stop may come into contact with the Manipulator body, which may cause the Manipulator to stop functioning properly.

• When attaching the hand to the shaft, have the hand hold the shaft using M4 or larger screws.

Brake release switch

• Joint #3 and Joint #4 have an electromagnetic brake that is triggered when the power is off, preventing them from being moved up and down or rotated by hand.
  To move Joint #3 up or down or rotate Joint #4 when attaching a hand, turn on the Controller, and then press the brake release switch.
  This button switch is a momentary brake release type where the brake is released only while the button switch is being pressed. The switch releases the brake of Joints #3 and #4 simultaneously.

• When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand.
  *: The shaft may drop due to the weight of the hand or other object.

  

  Symbol	Description
  a	Brake release switch

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.