Epson T-B Series User Manual

T3-B T6-B Manipulator 4. Setting of End Effectors
T-B series Rev.1 65
4. Setting of 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”
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 disconnec
tion, 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
cannot be moved
up/down by hand
because the solenoid 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 while attaching an
end effector
, turn ON the Manipulator and press
the br
ake release switch.
This button
switch is a momentary-type
; the
brake is released only wh
ile the button switch is
being pressed.
Brake release switch
The 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.

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English