IAI America IX-NNC8040 - 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.
The diameter of each tool must not exceed 100 mm. A tool larger than this dimension will interfere with the
robot within the robot’s range of movement.
Adjust the position (direction) of axis 4 (rotational axis) using the D-cut surface at the tip of axis 4.
Span ring, etc.
Pressure flange
D-cut surface
Tool
Tool diameter
I100 or less
Center of axis 4
(rotational axis)
D-cut 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 100 mm, the tool will contact the robot within its range of movement
and cause damage to the tool, work and/or robot.
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