End Effectors; Attaching An End Effector - Epson ProSix S5 Series Manual

Setup & Operation 4. End Effectors

4. End Effectors

4.1 Attaching an End Effector

Create an end effector for your Manipulator that will attach to Arm #6. Before attaching
the end effector to the end of Arm #6, observe these guidelines.
The wrist flange dimensions are shown in the following figure. In order to see the tram
marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth
of inside and outside fittings must be 5 mm or less.
■ 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.
CAUTION
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.
Wrist Flange
5 (Fitting depth)
NOTE
Wash off anti-corrosive paint (solid yellow paint) on the wrist flange surface with thinner

or light oil before mounting the end effector.
Arm #6
Attach an end effector to the end of the Arm #6 using an M5 bolt.
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.
attention to the interference area of the end effector.
46
4-M5 Tap P0.8 Depth: 9 mm
P.C.D 31.5
ø5H7 hole Depth: 7mm
When designing your system layout, pay close
(° = degree)
45°
S5 Rev.5