Adept Quattro s650H Robot

Chapter 2 - Safety
2.6 Robot Modifications
It is sometimes necessary to modify the robot in order to successfully integrate it into a
workcell. Unfortunately, many seemingly simple modifications can either cause a robot
failure or reduce the robot’s performance, reliability, or lifetime. The following
information is provided as a guideline to modifications.
WARNING: For safety reasons, it is prohibited to make
certain modifications to Adept robots.
Acceptable Modifications
In general, the following robot modifications will not cause problems, but may affect
robot performance:
• Attaching utility boxes, solenoid packs, vacuum pumps, cameras, lighting, etc., to
the robot base.
• Attaching hoses, pneumatic lines, or cables to the robot. These should be designed
so they do not restrict arm motion or cause robot motion errors.
• Attaching user tooling to the platform.
NOTE: Due to the kinematics of parallel robots, user cabling and tooling
can have a significant effect on robot performance, and must be
considered as part of the 6 kg payload rating of the Adept Quattro s650H
robot. Significant consideration should be placed on symmetrically
loading the platform, and not overloading one arm with respect to the
others.
Unacceptable Modifications
The following modifications may damage the robot, reduce system safety and reliability,
or shorten the life of the robot.
CAUTION: Making any of the modifications listed below
will void the warranty of any components that Adept
determines were damaged due to the modification. You
must contact Adept Customer Service if you are
considering any of the following modifications.
• Modifying any of the robot harnesses or robot-to-controller cables.
• Modifying any robot access covers or drive system components.
• Modifying, including drilling or cutting, any robot casting.
• Modifying any robot electrical component or printed-circuit board.
• Modifications that compromise EMC performance, including shielding.
30 Adept Quattro s650H Robot User’s Guide, Rev A