Adept s600 Cobra - Manual (Page 71)

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 71 of 128
Chapter 6: Optional Equipment Installation
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 tool flange using four M6 screws. See Figure 7-4.
for a detailed dimension drawing of the tool flange.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through hole in the tool 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 Grounding Robot-Mounted
Equipment on page 36.
NOTE: A threaded hole is provided on the tool flange. See Figure 7-4. The user may
attach a ground wire through the quill connecting the outer link and the tool flange.
6.2 Removing and Installing the Tool Flange
The tool 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 steel ball behind the setscrew contacts the shaft in one of the vertical-spline grooves in
the shaft. Follow the procedures below 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 hex wrench to loosen the setscrew. See Figure 6-1. Note the vertical-spline
groove that is in line with the setscrew. You must reinstall 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 steel ball
(3.5 mm) that is inside the flange behind the setscrew.