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Setup & Operation 4. Setting of End Effectors

VT Rev.1 39

4. Setting of End Effectors

4.1 Attaching an End Effector

Create an end effector for your Manipulator.

Flange dimensions of the wrist attached to the end of Arm #6 is as below.

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

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 “Tool Adapter (ISO flange)”. For details, refer to Setup &

Operation: 11. Options.

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