Setup & Operation 4. Setting of End Effectors
36
LS20-B Rev.4
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
power to the robot system is turned OFF. Improper connection of the
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
.
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 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
is turned OFF.
This prevents the shaft f
rom 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
ontroller and move the joint up/down or
rotate the joint while pressing
the brake
.
switch is a momentary-type; the
brake is released only wh
ile the button switch
Brake release switch
Shaft may be lowered by the weight
of the end effector.
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
, or the position of the arms. When designing your system layout, pay
attention to the interference area of the end effector.
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