12
C23UE004-2109
End Effector
The end effector can be classified as two types:
A. Gripper: Used to load and unload, such as pneumatic gripper, electric gripper and vacuum sucker.
B. Tool: Used to process, such as welding, cutting and surface treatment.
More attention must be paid to the design of the
end effector to prevent power loss or any other
errors that could lead to workpiece falling or
damage.
The tool-type end effector is usually equipped with
high voltage, high temperature and active rotary
shaft. Special attention should be paid to the
operating safety.
The end effector should be mounted firmly on the
robot to avoid workpiece release during operation
which may cause personal injury or hazard.
The end effector may be equipped with its own
control unit. Be sure the control unit does not
interfere with robot operation.
The gripper-type end effector should prevent the
workpiece from dropping or damaging when the
robot experiences a power error or other errors. If
potential dangers or abnormal situations exist
when using end effector, the associated hazards
must be handled by the system integrator in
accordance with the related standards.
Pneumatic, Hydraulic System
When using the pneumatic or hydraulic system, the
gripped workpiece may fall due to insufficient
pressure or gravity.
The pneumatic system must be equipped with
the relief valve, so that can be applied in an
emergency.
Emergency Stop Switch
The robot or other control component should have
at least one device for immediate halt of n
function, such as an emergency stop switch.
Summary of Contents for RA610-GC
Page 1: ...www hiwin tw User Manual Articulated Robot RA610 GC Original Instruction ...
Page 42: ...40 C23UE004 2109 Figure 2 3 b RA610 1355 GC Outer dimension and motion range ...
Page 43: ...41 C23UE004 2109 Figure 2 3 c RA610 1476 GC Outer dimension and motion range ...
Page 44: ...42 C23UE004 2109 Figure 2 3 d RA610 1672 GC Outer dimension and motion range ...
Page 45: ...43 C23UE004 2109 Figure 2 3 e RA610 1869 GC Outer dimension and motion range ...
Page 47: ...45 C23UE004 2109 Figure 2 4 b RA610 1476 GC Wrist moment diagram ...
Page 48: ...46 C23UE004 2109 Figure 2 4 c RA610 1672 GC Wrist moment diagram ...
Page 49: ...47 C23UE004 2109 Figure 2 4 d RA610 1869 GC Wrist moment diagram ...
Page 50: ...48 C23UE004 2109 Figure 2 4 e RA610 1151 GC Wrist moment diagram mm mm ...
Page 65: ...63 C23UE004 2109 Figure 4 8 Clear encoder by HRSS ...
Page 73: ...71 C23UE004 2109 Table 6 3 Inspection schedule ...
