Epson G3 Series - Setting of End Effectors; Attaching an End Effector

Setup & Operation 4. Setting of End Effectors
52 G3 Rev.14
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 r
obot 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 switch
-
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 thoug
h 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
switch.
Brake release switch
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 switch is being pressed because the
shaft 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.