Adept Cobra s800 Inverted Robot User’s Guide, Rev C
69
Optional Equipment
Installation
6
6.1
Installing End-Effectors
The user is responsible for providing and installing any end-effector or other end-of-arm
tooling. End-effectors can be attached to the user flange using four M6 screws. See
for a dimension drawing of the user flange.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through-hole in the user
flange and can be used as a keying or anti-rotation device in a user-designed end-effector.
If hazardous voltages are present at the end-effector, you must install a ground
connection from the base of the robot or the outer link to the end-effector. See
“Robot-Mounted Equipment Grounding” on page 52
NOTE:
A threaded hole is provided on the user flange (see
). The user may attach a ground wire through the quill
connecting the outer link and the user flange.
6.2
Removing and Installing the User Flange
The user flange can be removed and reinstalled. If the flange is removed, it must be
reinstalled in exactly the same position to avoid losing the calibration for the system.
There is a setscrew on the flange that holds the rotational position of the flange on the
quill shaft. A ball bearing behind the setscrew contacts the shaft in one of the
vertical-spline grooves in the shaft. Follow the procedures that follow to remove and
reinstall the flange assembly.
Removing the Flange
1. Turn off High Power and system power to the robot.
2. Remove any attached end-effectors or other tooling from the flange.
3. Use a 2.5 mm Allen driver to loosen the setscrew (see
Note the vertical-spline groove that is in line with the setscrew. You must replace
the flange in the same position.
4. Use a socket driver to loosen the two M4 socket-head screws.
5. Slide the flange down slowly until it is off the shaft.
Be careful
not to lose the ball
bearing (3.5 mm) that is inside the flange behind the setscrew.
