Epson G3 Series manual Setting of End Effectors, Attaching an End Effector

Setup & Operation 4. Setting of End Effectors

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.

■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.

CAUTION	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 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 button

-Joint #3 cannot be moved up/down by hand because the electromagnetic 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 Controller and press the brake release button.

Brake release button

The shaft may be lowered by the weight of the end effector.

This button switch is a momentary-type; the brake is released only while the button switch is being pressed.

-Be careful of the shaft while the brake release button 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 work piece, or the position of the arms. When designing your system layout, pay attention to the interference area of the end effector.

38 G3 Rev.1