Epson G20 Series User Manual

Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.20 63
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.
CAUTION
■
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 pneuma
tic 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)
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 r
obot 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
s #3 and #4 cannot be moved
up/down by hand because the electromagnetic brake
is applied to the joint
s while power to the robot system is turned OFF.
This 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
while attaching an end effector
, turn ON the
C
ontroller 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 are
released
simultaneously.
Brake release switch
The shaft may be lowered
by the weight of the end
effector
.
-
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.

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English