Setting Of End Effectors; Attaching An End Effector - Epson T-B Series Manual

4. Setting of End Effectors

4.1 Attaching an End Effector

Create an end effector for your Manipulator. For details of attaching an end effector, refer
to "Hand Function Manual"
Before attaching an end effector, observe these guidelines.
■ 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)
CAUTION
by power disconnection, the Emergency Stop switch, or the safety features of the
robot system.
However, the I/O set in the hand function does not turn off (0) when the Reset
command is executed or in emergency stop.
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 "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 robot 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 solenoid 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 though the
power is turned ON.
To move Joint #3 up/down while attaching an
end effector, turn ON the Manipulator and press
the brake release switch.
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.
T-B series Rev.1
T3-B T6-B Manipulator 4. Setting of End Effectors
The shaft may be
lowered by the weight
of the end effector.
Brake release switch
65