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

RS3 RS4 Manipulator 4. Setting of End Effectors

4. Setting of End Effectors

4.1 Attaching an End Effector

Users are responsible for making their own end effector(s). For details of attaching an end
effector, refer to "Hand Function Manual"
■ 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 electromagnetic brake is
applied 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.
When attaching an end effector, turn ON the Controller. Move Joint #3 up/down 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.
- Be careful of the shaft falling while the brake release switch is being pressed because the
shaft may be lowered by the weight of the end effector.
40 RS series Rev.4