3-38
Installation the motorized hand set
（
4A-HM02
）
3Installing the option devices
3.3.
1
Installing the motorized hand
Fig. 3-4 shows how to install the motorized hand.
1
) Install the hand adapter to the robot arm's mechanical interface with 4 hexagon socket bolts (M5x
1
6).
2) Instal the motorized hand to the hand adapter with 2 hexagon socket bolts (M3x
1
2).
Make sure that the position of the hand connector of the motorized hand and the position of the hand
adapter are the same as that shown in Fig. 3-4.
3) Once the hand has been installed, securely attach the hand curl cable to the hand's connector and to the
robot's connector, as shown in Fig. 3-4.
4) Move the J5 axis by JOG operation, and confirm that the cable is not hindered.
Install the 0 position (the center of the operation range) for the positions of the J5
axis and J6 axis. If you set the installation position inappropriately, the motorized hand
curl cable and the hand adapter can get entangled. In such a case, repeat the
operation in clause "3)", and change the installation position.
There is no mechanical stopper for the J6 axis.
Do not manually rotate the J6 axis by more than the operation range (200 degrees)
when the servo is OFF. If the axis is rotated by more than operation range when the
servo is ON, an encoder alarm occur.
3.3.2 Installation the motorized interface
Refer to the separate "CR
1
Controller Instruction Manual/Controller setup, basic operation, and maintenance",
and install the motorized hand interface on the controller.
3.3.3 Setting the parameters
When using the motorized hand (
1
A-HM0
1
), the tool data is
1
23mm.Refer to separate manual "CR
1
/CR2/CR4/
CR7/CR8 Controller INSTRUCTION MANUAL/Detailed explanations of functions and operations", and set the
MEXTL parameters.
3.3.4 Confirming operability
1
) Operate the teaching pendant to confirm that the hand opens and closes.
2) To operate the teaching pendant, refer to separate manual "CR
1
/CR2/CR4/CR7/CR8 Controller
INSTRUCTION MANUAL/Detailed explanations of functions and operations".
While operating the hand, depending on the J5 axis and J6 axis, the hand curl-tube
and the hand check cable can get entangled with the hand adapter and forearm. In this
case, temporarily remove the hand, and reposition it to its correctly installed position,
as shown in Fig. 3-4.
If the cable is incorrectly fixed and force is repeatedly applied on the connectors due
to the robot movement, wire breakage could occur at the connector section.
This completes the installation of the motorized hand set.
CAUTION
CAUTION
CAUTION
CAUTION
