Scara Mechanical Unit Manual
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26
3.
Setting Off End Effectors
3.1.
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/O outputs are configured 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.
3.1.1.
Shaft
Attach an end effector to the lower end of the shaft.
For the shaft dimensions, and the overall
dimensions of the Robot, refer to
1. Specifications
.
Use a split muff coupling with an M4 bolt or larger to attach the end effector to the shaft.
3.1.2.
Brake release switch
Joint #3 cannot be moved up/down by hand because the solenoid 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 though the power is turned ON.
To move Joint #3 up/down while attaching an end effector, turn ON the Controller and press the brake
release switch.
This button switch is a momentary type; the brake is released only while the button switch is being
pressed.
The respective brakes for Joints #3 and #4 are released simultaneously.
Be careful of the shaft while the brake release switch is being pressed because the shaft may be lowered
by the weight of the end effector.
CAUTION
Be careful of the shaft falling and rotating while the brake release switch is
pressed because the shaft may be lowered by the weight of an end effector.
