IAI IX Series, Operation Manual

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12. Precautions for Use
12.3 Tools
The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent
positional shift.
It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample
configuration of tool installation is given below.
Set the tool diameter to 100 mm or less. If the tool diameter exceeds 100 mm, the tool will interfere with the
robot within the robot’s operation area. If the tool diameter exceeds 100 mm or the tool interferes with peripheral
equipment, decrease the soft limits to reduce the operation area.
Also keep the inertial moment of the tool and load at the allowable value or less. (Refer to 11.4, “Carrying Load.”)
Use the D-cut surface at the end of axis 4 (rotational axis) to adjust the position (direction) of axis 4. To set the
rotating direction using the D-cut surface and setscrews, be sure to use setscrews with resin or brass pad or set
pieces made of soft material.
(Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.)
D-cut surface
Span ring, etc.
Pressure flange
Center of axis 4
(rotational axis)
Tool diameter:
100 or less
D-cut surface
Tool