Intelitek SCORA-ER 14, User Manual

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Servo Gripper
The electrical servo gripper is shown in the inset in Figure 4-10.
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The robot must be homed before you mount the gripper.
1. Using a 3 mm hex wrench and four M4x10 socket screws, attach the gripper to
the gripper mounting flange at the end of the robot arm.
2. Connect the gripper cable to the electrical connector on the robot arm.
Make sure the connector is oriented as shown in Figure 4-10.
3. Make sure the gripper cable is positioned as shown in both Figure 4-10 and
Figure 4-11.
Refer to A-A in Figure 4-10. Fit the two cable clamps onto the two gripper
cables. Place the clamps on the flange. Fit the spacer on the cable clamp screw,
and then tighten the screw onto the flange.
4. Carefully execute the robot HOME command. Stay close to the teach pendant or
controller. If the gripper cable becomes entangled or excessively stretched during
the homing, abort the procedure immediately.
5. The gripper has a rotation of
±
270°. Do not attempt to move the gripper beyond
this limit.
6. At the end of each work session (before turning off the controller), or before
homing the robot, make sure the gripper’s position is as shown in Figure 4-11.
Gripper
Mounting
Flange
Figure 4-10: Connecting Gripper to SCORA-ER 14
User’s Manual 4-7 SCORA-ER 14
9603