IAI America IX-UNN3515 - Manual (Page 33)

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5. Precautions for Use
Warning
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 interferes with peripheral equipment, decrease the soft limit to reduce the operation area.
Use the D-cut surface at the positioning precision 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 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
Center of axis 1
(rotational axis)
Tool
Span ring, etc.
Pressure flange
Caution