Intelitek SCORBOT-ER 9, Руководство пользователя

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DC Servo Gripper
The electric DC 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.
Refer to Figures 4-10 and 4-11.
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 Figure 4-11.
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.
)
Axis 6 is reserved by default controller configuration for a servo gripper. To
connect a different device as axis 6, you must change the system configuration by
means of the ACL command CONFIG.
Figure 4-10: Connecting Gripper to SCORBOT-ER IX
User’s Manual 4 - 7 SCORBOT-ER IX
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