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Chapter 6 - Optional Equipment Installation
12. Locate the spare air line contained in the tubing bundle inside the front end of the
cover. Remove the spare air line from the bundle.
13. Insert the spare air line into the back of the empty 6mm User Air fitting.
NOTE: This 6mm User Air connector and the 6mm User Air connector at
the top of Figure 6-2 on page 75 are not functional for other uses after this
modification.
14. Replace the Joint 1 cover, taking care to insure that all tubing is inside the cover
and nothing gets crimped or pinched while pushing the cover into position.
Replace four screws to secure the cover. Tighten the screws to 14 in-lbs of torque.
15. Replace the outer link cover and tighten the screws to 14 in-lbs of torque.
16. Connect the factory air supply to the modified 6mm User Air connector.
17. Turn on system power and boot the system. The default values for the gripper
signals that activate the solenoids are 9 and 10. Once the system boot has
<strong>com</strong>pleted, at the MicroV + dot prompt, type in the following <strong>com</strong>mands to
activate the solenoids one at a time.
.SIGNAL 9
.SIGNAL 10
WARNING: The robot air pressure may be disconnected
until this test has been done to prevent unsecured
pneumatic lines from accidentally injuring personnel.
80 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B