7
Regulations on robot safety
Thoroughly read the regulations below before use.
WARNING
If the moving workpiece poses a risk to personnel or if
human ngers could be caught in the nger attachment,
install safety measures such as a protective cover, etc.
If the circuit pressure drops due to power failure or
air source trouble, the gripping power may
decrease and the workpiece may fall. Provide
position locking measures, etc., so that personnel
are not injured or machines damaged.
CAUTION
Working environment
At cutting, casting, or welding plants, there is a risk of foreign
matter, such as cutting uid, chips, powder and dust,
entering the equipment. Use covers and such to prevent this
as much as possible.
Do not use the equipment under the following environments.
Exposed to coolant (because the sliding section is
abraded by abrasive or polishing debris in the liquid)
When the atmosphere contains organic solvents,
chemicals, acids, alkalis, kerosene, etc.
Exposed to water
When gripping long or large workpieces, stable
gripping requires a grip on the center of gravity.
Stability is a must when using larger or multiple
workpieces as well.
◎
: Excellent,
〇
: Acceptable,
△
: Conditional,
×
: Unusable
Select a model with sufcient power to grip the
workpiece weight.
Select a model with sufcient opening/closing width
for the workpiece size.
If directly inserting the workpiece into the jig with
the gripper, consider relief during design. The
gripper may be damaged.
◎
W
L
○
W
L
△
W
L
×
W
L
Pneumatic components
Safety Precautions
Be sure to read this section before use.
Refer to Pneumatic Cylinders (CB-030SA) for general information of the cylinder and cylinder
switches.
Product-specic cautions: Grippers for collaborative robots
ISO 10218, JIS B 8433 (Robots and robotic devices)
ISO/TS 15066 (Robots and robotic devices)
Design/selection
If the attachment is not rigid enough, the resulting sag
could cause the nger to twist or adversely affect operation.
Adjust the gripper open/close speed with the speed
controller.
When used at high speed, backlash may occur sooner.
In addition, the workpiece may vibrate due to
shocks in opening/closing, which may lead to
erroneous gripping, erroneous insertion of
workpieces and poor repeatability.
Condensation (water drops) may occur in the piping
in certain conditions if an actuator with small bore
size/short stroke is operated at high frequency.
Take measures against condensation with a quick
exhaust valve, etc.
Gripper
Gripper
Push cylinder
Gripper
Mini slide
mechanism
Stopper
When using push cylinder
Push-in jig with ejector
Note) Since the workpiece slides over the top of the attachment, it may
signicantly shorten the service life of the gripper. The shape of the
attachment should be sufciently considered.
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