Chapter 6: optional equipment installation, 1 end-effectors, Attaching – Adept s650HS Quattro User Manual
Page 105: Aligning, Grounding, Accessing vacuum, 2 routing end-effector lines
Adept Quattro User's Guide, Rev F
Page 105 of 196
Chapter 6: Optional Equipment Installation
6.1 End-Effectors
You are responsible for providing and installing any end-effector or other tooling, as well as
vacuum lines and wiring to the end-effector.
NOTE: For the Adept Quattro s650HS robots, any end-effectors, tooling, and
vacuum or electric lines must conform to USDA regulations to maintain the robot’s
USDA Acceptance.
Attaching
You can attach end-effectors to the tool flange using either four M6 x 1.0 screws, or a ring
clamp. Hardware for both methods is supplied in the accessories kit. See the drawings starting
with Figure 7-6 for dimensions of the tool flanges.
NOTE: The combined weight of the end-effector and the payload must not exceed
the maximum rated payload.
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 the drawings
starting with Figure 7-6 for dimensions of the tool flanges.
Grounding
If hazardous voltages are present at the end-effector, you must install a ground connection to
the end-effector. See Robot-Mounted Equipment on page 83.
Accessing Vacuum
The tool flange has been made as large as possible to allow vacuum lines to pass through.
WARNING: Do not tap the tool flange, as this would
weaken it.
See the drawings starting with Tool Flange Dimensions, P31 Platform on page 115.
6.2 Routing End-effector Lines
End-effector lines (either vacuum/air lines or electrical wires) can be routed to the platform by: