IAI America IX-NNN1805 - Manual (Page 69)

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12. Precautions for Use
12.2 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.
If the tool diameter exceeds 35 mm, the tool will interfere with the robot within the robot’s operation area. If the
tool diameter exceeds 35 mm or the tool interferes with peripheral equipment, decrease the soft limit to reduce
the operation area.
Keep the inertial moment of the tool and load at 386 kg
˜m 2
or less.
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.)
IX-NNN1205/1505/1805
D-cut surface
Center of axis 4 (rotation axis)
Tool
Span ring, etc.
Pressure flange
Tool diameter ‡35 or less