Installing the Hand
Users are responsible for making their own end effector(s). Be careful of the following points when attaching an end effector. For details on attaching the hand, refer to the following manual.
"Hand Function Manual"
CAUTION
- If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the workpiece when the power to the robot system is turned OFF. Improper connection of the wires and/or pneumatic tubes may damage the robot system and/or work piece as the work piece is released when the Emergency Stop switch is pressed.
- I/O outputs are configured at the factory so that they are automatically shut off (0) by power disconnection, the Emergency Stop switch, or the safety features of the robot system. However, the I/O set in the hand function does not turn off (0) when the Reset command is executed or in emergency stop.
Shaft
Attach an end effector to the lower end of the shaft. For the shaft dimensions, and the overall dimensions of the Manipulator, refer to the following.
SpecificationsDo not move the upper limit mechanical stop on the lower side of the shaft. Otherwise, when “Jump motion” is performed, the upper limit mechanical stop may hit the Manipulator, and the robot system may not function properly.
When attaching the hand to the shaft, have the hand hold the shaft using a split muff coupling with an M4 bolt or larger screws.
Brake release switch
| Symbol | Description |
|---|---|
| a | Brake release switch |
Shaft may be lowered by the weight of the end effector.
Joint #3 cannot be moved up/down by hand because the electromagnetic brake is applied to the joint while power to the robot system is turned OFF. This prevents the shaft from hitting peripheral equipment in the case that the shaft is lowered by the weight of the end effector when the power is disconnected during operation, or when the motor is turned OFF even though the power is turned ON.
To rotate Joint #3 up/down while attaching an end effector, turn ON the Controller and press the brake release switch. This button switch is a momentary-type; the brake is released only while the button switch is being pressed
Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of the hand.
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.