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

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 and #4 cannot be moved up/down by
hand because the electromagnetic 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 or rotate Joint #4
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
- 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.
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. When designing your system layout, pay
attention to the interference area of the end effector.
LS-B series Rev.5
LS20-B Manipulator 4. Setting of End Effectors
Shaft may be lowered by the weight
of the end effector.
Brake release switch
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