Iai-america IX-INN8040H Manuel d'utilisateur télécharger pdf (Page 69)

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

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Iai-america IX-INN8040H Manuel d'utilisateur Page 69