CRS A255 - Limp the Wrist

Chapter 7: Gripper Installation 57
99-04-23
Installing the Gripper
Installing a gripper requires the sequence of two procedures:
1) Limp the wrist
2) Attach the gripper to the wrist tool flange
You need:
•
5
/
32
inch ball-head hex key
Before you begin:
• For best access to the tool flange, use the teach pendant or issue joint
commands to place the arm in the Ready position and rotate joint 1 so the
flange is towards you.
• Move the arm by using the axis keys or by limping as described on pages 51
forward.
• When installing the gripper, you must enter the robot arm workspace, refer to
and follow the operation and safety instructions on page 24 “Working Within
the Robot’s Workspace”.
Caution! Do not move the joints by hand when the brakes are engaged (when arm
power is off) or when under servo control. This may damage some components.
Caution! When moving while limp, do not move the joints too forcefully. Excessive
force may over-stress the drives.
Warning! Ensure the controller does not move the arm. Ensure that commands are not
entered at the teach pendant while you attach a gripper. Be prepared to activate an e-stop.
1) Limp the Wrist
When joints 4 and 5 are limped you can rotate and pitch the wrist and access the
cap screw holes at the rear of the tool flange.
Warning! Ensure that arm power is OFF since you are entering the arm’s workspace.
Refer to and follow the operation and safety instructions on page 24 “Working Within the
Robot’s Workspace”.
1. With the teach pendant attached, turn ON power to both the arm and the
controller.
2. At the teach pendant Main Menu, press F1 (Manual). On the following screen,
press F1 (Motion) until LIMP appears.
3. Press Ax4+ (positive) and then Ax5+, the joints limp.
Note: Do not limp all the joints, this causes the arm to fall at joints 2 and 3 and
moves the tool flange to an inaccessible position.