IAI America IX-NNN3515 - Manual (Page 30)

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5. Precautions for Use
5.2 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 80 mm, the tool will interfere with the robot within the robot’s operation area. If the
tool diameter exceeds 80 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 work at 0.015 kg
˜m 2
or less.
Use the D-cut surface at the tip 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.)
z Turn off the power to the controller and robot before installing a tool.
z If the tool mounting part does not have sufficient strength, it may break while the robot is operating and
cause the tool to detach and fly off.
z If the tool diameter exceeds 80 mm, the tool will interfere with the robot within the robot’s operation area.
Decrease the soft limit to reduce the operation area.
z Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.
Caution Warning
D-cut surface
Center of axis 1
(rotational axis)
Tool
Span ring, etc.
Pressure flange