Part 1: Setup & Operation 5. End Effectors
21
Wire and tube layout
The Joint #3 shaft has a through-hole to the end effector for supplying air and electricity. The
diameter of the through-hole is
φ
14 mm. The lower limit mechanical stop of Joint #3 has two
threaded holes (depth 10 mm) for M4 bolts for tooling. (See Figure 10.)
WARNING
If you use an end effector equipped with a gripper or chuck, set up electrical
signals and / or pneumatics in such a way that the gripper does not release its
object when the robot is turned OFF.
All I/O’s are set at the factory so that they automatically shut entirely OFF (0)
when the robot is turned OFF, when the emergency stop switch is pressed, or
when any of the robot’s safety features are activated.
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