Definition of Terms
The terms used in this manual, and their definitions, are described in the table below.
| Term | Meaning |
|---|---|
| Hand | A general term for a device attached to the end of the manipulator to perform an action |
| End effector*1 | A general term for a device attached to the end of the manipulator (ISO standard) |
| EOAT*1 | End Of Arm Tooling A general term for a device attached to the end of the manipulator |
| Gripper | A general term for hand tools used to grip a workpiece Grippers are primarily comprised of vacuum-type and chuck-type grippers. |
| Electric screwdriver | An electric device used to tighten screws (The hand function is intended for use with end of arm tooling that can be attached to the end of the manipulator and support I/O control.) |
| Dispenser | A device used to apply adhesives and grease |
| Welding torch | A device used for welding |
| Pneumatic | Compressed air. Supplies air pressure as a source of power to operate a device. |
| Vacuum (state) | A state of lower air pressure than atmospheric pressure |
| Vacuum generator | A device that generates a vacuum state Ejectors, vacuum pumps, etc. |
| Ejector | A device that generates a vacuum from the air flow obtained from pneumatic |
| Vacuum pump | A pump used to generate a vacuum by discharging gas from a container |
| Vacuum break (function) | A function used to actively return a vacuum state back to atmospheric pressure conditions by feeding pneumatic into the part in a vacuum state |
| Input*2 | A signal sent from the hand to the controller |
| Output*2 | A signal sent from the controller to the hand |
| Single function (hand) | A hand consisting of two states - “open, close”, or “suction, release” (The Epson RC+ Hand function defines an I/O connection as a connection with a maximum of two input or output bits each.) |
| Advanced (hand) | Other than single function hands
|
| Suction (hand) | The operation of sucking up a workpiece using a vacuum This can also be used to describe the types of hands that use suction |
| Chuck (hand) | The operation of clamping on a workpiece to grip it This can also be used to describe the types of hand that use clamping The chuck hands consist of two types that grip the workpiece from outside of it (external grip type) and grip the workpiece from inside of it (internal grip type). |
| Fingers | The moving part at the end of a chuck-type hand |
| Valve | A solenoid valve used to control pneumatic The Epson RC+ Hand function supports both single solenoid and double solenoid valves. |
| Single acting (Type) | Chuck hands that operate using pneumatic pressure to open or close the hand, and then using a spring action to perform the opposite action The fingers are either always open or closed when pneumatic is not being supplied. |
| Double acting (Type) | Chuck hands that use pneumatic pressure to both open and close the hand |
| Sensor | A sensor used to acquire the finger position of a chuck hand This may also be called an auto switch, a sensor switch, a proximity sensor, or other names depending on the manufacturer. The Epson RC+ Hand function supports two wire and three wire (NPN/PNP) sensors. |
| Plus common | A connection method that connects a common I/O terminal to a positive power supply voltage (+24V) Source common When connecting the I/O output terminal for the controller as a plus common connection, the controller functions as a PNP-type switch (transistor) internally. When connecting the I/O input terminal for the controller as a plus common connection, it uses an NPN-type sensor (transistor). |
| Minus common | A connection method that connects a common I/O terminal to a negative power supply voltage (GND) Sink common When connecting the I/O output terminal for the controller as a minus common connection, the controller functions as an NPN-type switch (transistor) internally. When connecting the I/O input terminal for the controller as a minus common connection, it uses a PNP-type sensor (transistor). |
*1: For the Epson RC+, this is referred to as the “hand”.
*2: “Input” and “output” signals described in this manual always refer to the direction of the signal as viewed from the controller.
| Symbol | Description |
|---|---|
| a | Hand |
| b | Controller |
| A | Output (Action command, etc.) |
| B | Input (Workpiece detection signal, etc.) |
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