Setting Of End Effectors; Attaching An End Effector - Epson SCARA ROBOT Manipulator Manual

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.
■ 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.
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 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
- Joints #3 and #4 (G6-**3**) cannot be moved
up/down by hand because the electromagnetic
brake is applied to the joints while power to
the robot system is turned OFF.
prevents the shaft from hitting peripheral
equipment and rotating 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 or rotate Joint #4
(G6-**3**) while attaching an end effector, turn ON the Controller and move the joint
up/down or rotate the joint while pressing the brake release switch.
This button switch is a momentary-type; the brake is released only while the button
switch is being pressed.
The respective brakes for Joints #3 and #4 (G6-**3**) are released simultaneously.
- Be careful of the shaft falling and rotating while the brake release switch is being
pressed because the shaft may be lowered by the weight of the end effector.
- For G6-**1**, Joint #4 has no brake on it.
G6 Rev.21
Setup & Operation 4. Setting of End Effectors
This
The shaft may be lowered by
the weight of the end effector.
Brake release switch
59