Epson SCARA ROBOT User Manual

Setup & Operation 4. Setting of End Effectors
G6 Rev.21 59
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 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)
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 (G6-**3**) cannot be move
d
up/down by hand because the electromagnetic
brake is applied to the joint
s while power
to
the robot system
is turned O FF. T
his
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
Brake release switch
The shaft may be lowered by
the weight of the end effector.
(G6
-**3**) 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 (G6-**3**) are released simultaneously.
-
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.
-
For G6
-**1**, Joint #4 has no brake on it.

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English