Epson E2C Series, Manipulator Manual

Page: 55 / 208

Setup & Operation 4. Setting of End Effectors
E2C Rev.6 43
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/Os are set 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.
Joint #3 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 thought the power is turned ON.
To move Joint #3 up/down while attaching
an end effector, turn the Controller ON and
move the joint up/down while pushing the
Joint #3 brake release button.
This button is a momentary-type; the brake is
released only while the button is being
pushed.
♦
Be careful of the shaft falling while the Joint
#3 brake release button is being pushed
because it may be lowered by the weight of
an end effector.
Brake release button
The shaft may be lowered by the
weight of the end effector.