End Effectors; Attaching An End Effector - Epson C Series Manual

4. 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"
Flange dimensions of the wrist attached to the end of Arm #6 is as below.
■ 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.
Wrist Flange
Arm #6
Attach an end effector to the end of the Arm #6 using the M5 bolts.
Layouts
When you operate the Manipulator with an end effector, the end effector may interfere with
the Manipulator body depending on 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 close
attention to the interference area of the end effector.
Compatibility with ISO flange:
To install the end effector whose mounting dimensions are designed for the ISO flange, we
provide the optional C8 ISO flange (J6). For details, refer to "6. Options".
C series Rev.2
Details from A view
C12 Manipulator 4. End Effectors
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