Setting Of End Effectors; Attaching An End Effector - Epson SCARA GX Series 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 the following things. For details of attaching an end effector, Hand Function
Manual.
■ Before attaching an end effector and peripheral equipment, turn OFF the
Controller and related equipment, and then disconnect the power plug from the
power source. Performing any replacement procedure with the power ON is
extremely hazardous and may result in electric shock and/or malfunction of the
WARNING
robot system.
■ If you use an end effector equipped with a holding mechanism of a work piece,
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
GX series Rev.2
Attach an end effector to the lower end of the shaft.
For the shaft dimensions, and the overall dimensions of the Manipulator, refer to "2.2
Part Names and Outer Dimensions".
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.
GX4 Manipulator 4. Setting of End Effectors
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