Setting The Hand; Installing The Hand - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual

4.4 Setting the Hand

4.4.1 Installing the Hand

The hand (end effector) must be prepared by the customer. When installing the hand, take note of the following. For details on
attaching the hand, refer to the following manual.
"Hand Function Manual"
WARNING
Before attaching a hand or peripheral equipment, be sure to always turn off the Controller and related
equipment and unplug the power cables. Performing any work procedure with the power turned on is
extremely dangerous and may result in electric shock and/or malfunction of the robot system.
CAUTION
When the hand is equipped with a workpiece gripping mechanism, ensure that the wiring and pneumatic
tubes do not cause the hand to release the workpiece when the power is turned off. When the wiring and
pneumatic tubes are not designed for the hand to maintain its grip on the workpiece when the power is turned
off, pressing the emergency stop switch releases the workpiece, which may damage the robot system and the
workpiece.
By default, all I/Os are designed to automatically turn off (0) when the power is shut off, when an emergency
stop is triggered, or by the robot system's safety function.
However, I/Os set with the Hand function does not turn off (0) when executing the Reset statement, or when
performing an emergency stop.
For the risk of the residual air pressure, conduct a risk assessment on the equipment and take the necessary
protective measures.
Shaft
Attach the hand to the lower end of the shaft.
For the layout dimensions in the area around the shaft and the overall dimensions of the Manipulator, refer to the following
section.
Names of Parts and Their Dimensions
Do not move the upper limit mechanical stop on the lower side of the shaft. When performing a Jump operation, the upper
limit mechanical stop may come into contact with the Manipulator body, which may cause the Manipulator to stop
functioning properly.
When attaching the hand to the shaft, have the hand hold the shaft using M4 or larger screws.
Brake release switch
Joint #3 and Joint #4 have an electromagnetic brake that is triggered when the power is off, preventing them from being
moved up and down or rotated by hand.
To move Joint #3 up or down or rotate Joint #4 when attaching a hand, turn on the Controller, and then press the brake
release switch.
This button switch is a momentary brake release type where the brake is released only while the button switch is being
pressed. The switch releases the brake of Joints #3 and #4 simultaneously.
When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand.
*: The shaft may drop due to the weight of the hand or other object.
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