Adept s650H Quattro - Manual (Page 83)

Adept Quattro s650 Robot User’s Guide, Rev B 83
Optional Equipment
Installation
6
6.1 End-Effectors
The user is responsible for providing and installing any end-effector or other tooling,
vacuum lines, and wiring to the end-effector.
Attaching
End-effectors can be attached to the tool flange using either four M6 screws or a ring
clamp. Hardware for both methods is supplied in the accessories kit. See
Figure 7-2 on
page 86 for a dimension drawing of the tool flange.
NOTE: The combined weight of the end-effector and the payload must not
exceed 2 kg.
The screws used to attach end-effectors to the tool flange must not extend
more than 0.079 in. [2 mm] past the top of the tool flange.
Aligning
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in a hole in the tool flange and
can be used as a keying or anti-rotation device in a user-designed end-effector. See
Figure
7-2 on page 86 .
NOTE: The dowel pin used to align an end-effector with the tool flange
must not extend more than 0.079 in. [2 mm] past the back (top) of the tool
flange.
Grounding
If hazardous voltages are present at the end-effector, you must install a ground
connection to the end-effector. See
“Robot-Mounted Equipment Grounding” on page 61 .
Accessing Vacuum
The tool flange is threaded at both ends with 1/8 G threads. This allows the user to attach
a vacuum line at the top, and attach the tool to the bottom of the flange to access the
vacuum. See the bottom drawing in
Figure 7-2 on page 86 .