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Appendix 5: Connections of recommended hands, recommended vision sensors and the force sen-
sor
This section explains the connections of recommended hands (all types), recommended vision sensors, and
the force sensor.
CAUTION
(1) Hand: Co-act EGP-C40 N-N-Assista (Manufactured by SCHUNK)
Fig. 7-4
shows the connection details of a hand, vision sensor, and force sensor.
The items required depend on which devices are used.
Table 7-3
lists the items required for using each device. Purchase the relevant options. For details on the
steps of mounting devices, refer to their Instruction Manuals.
Fig. 7-5
shows the overall view of the robot with a hand and vision sensor mounted.
Fig. 7-6
shows the wiring of a hand and vision sensor to the robot.
When a hand is mounted
1
3
6
11, 12
Fig.7-4: Connection details of the hand (Co-act EGP-C40 N-N-Assista)
Table 7-3: List of the items required to use the hand (Co-act EGP-C40 N-N-Assista), vision sensor, and
force sensor
No.
Name
1
Mechanical interface
2
Hand connector cable
3
Vision sensor connector cable
4
Force sensor connector cable
Connections of recommended hands, recommended vision sensors and the force sensor Appendix-109
When using a vision sensor, prevent the J5 and J6 axes from being at the following
angles during Joint free mode (direct teaching).
J5 axis: +95° or more
J6 axis: ±20° or more
2
13
7
5
4
9
8
10
14
Device used
Hand and vision
Hand only
○
When a hand, vision sensor, and force
sensor are mounted
1
3
16
17
15
18
28
11, 12
(○: Required, -: Not required)
Hand and force
sensor
sensor
○
○
7
5
4
6
20
24
22
19
23
21
26
27
25
9
8
10
14
Hand, vision
sensor, and
force sensor
-
○
(End of the robot
arm)
7 Appendix
2
13
Model
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