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Setup & Operation 4. Setting of End Effectors
4. Setting of End Effectors
4.1 Attaching an End Effector
Users are responsible for making their own end effector(s). Before attaching an end
effector, observe these guidelines.
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 work piece
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.
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 Setup
& Operation: 2. Specifications.
- Do 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.
- Use a split muff coupling with an M4 bolt or larger to attach the end effector to the
shaft.
Brake release button
- 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 move Joint #3 up/down while attaching an end
effector, turn ON the Controller and press the brake
release button.
Brake release button
The shaft may be lowered by
the weight of the end effector.
This button switch is a momentary-type; the brake is released only while the button
switch is being pressed.
- Be careful of the shaft while the brake release button is being pressed because the shaf
t
may be lowered by the weight of the end effector.
Layouts
- When you operate the manipulator with an end effector, the end effector may interfere
with the Manipulator because of the outer diameter of the end effector, the size of the
work piece, or the position of the arms. When designing your system layout, pay
attention to the interference area of the end effector.
38 G3 Rev.1