Adept s650H Quattro - Manual (Page 84)

Chapter 6 - Optional Equipment Installation
84 Adept Quattro s650 Robot User’s Guide, Rev B
6.2 Routing End-effector Lines
End-effector lines (either vacuum/air lines or electrical wires) can be routed to the
platform by
• Attaching to the inner and outer arms, and then to the platform.
• Attaching from the robot support frame to the outer arms.
• Attaching from the robot base directly to the platform.
If end-effector lines are attached to the outer arms to reach the end-effector, either directly
from the frame, or along the inner arms:
• Make every attempt to keep the load on the outer arms as evenly balanced as
possible.
The added weight should be attached symmetrically about the platform center.
• Verify that the arms can be fully extended without interference from the
lines.
Ensure that there is enough line to reach the end-effector or vacuum fitting of
the flange at all platform locations.
• Verify that the platform can be fully rotated at all positions without affecting
or being affected by the lines.
• Verify that any service loop or excess line does not hang down below the end
effector at any platform position.
• Verify that excess line cannot become tangled in the outer arms or platform.
If end-effector lines are attached directly to the bottom of the robot base to reach the
end-effector:
• Lines attached to the robot base need some form of retraction mechanism or
service loop to take up the slack when the platform is not extended far from the
robot base.
• Ensure that the lines (and retraction mechanism) do not apply significant force, in
any direction, to the platform.
• Ensure that lines going to the robot base do not block your view of the status LED.
• Ensure that lines going to the robot base do not interfere with the inner arm
movement.
User-added end-effector lines:
• Should be checked for the entire work envelope being utilized.
They must reach without being pulled, and without impeding arm or platform
movement.
• Cannot add any load to the platform, or pull against the platform with significant
force. Robot performance will be affected.
• Are the user’s responsibility for maintenance.
They are not covered in the Maintenance section of this manual.
• Are not considered in the robot’s IP rating.