Adept Quattro s650H Robot
Adept Quattro s650H Robot User's Guide - Asimo.pl
Adept Quattro s650H Robot User's Guide - Asimo.pl
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Optional Equipment<br />
Installation 6<br />
6.1 End-Effectors<br />
You are responsible for providing and installing any end-effector or other tooling, as well<br />
as vacuum lines and wiring to the end-effector.<br />
Attaching<br />
You can attach end-effectors to the tool flange using either four M6x1.0 screws, or a ring<br />
clamp. Hardware for both methods is supplied in the accessories kit. See Figure 7-4 on<br />
page 85 for a dimension drawing of the tool flange.<br />
Aligning<br />
NOTE: The combined weight of the end-effector and the payload must not<br />
exceed 6 kg.<br />
The screws used to attach end-effectors to the tool flange must not extend<br />
more than 2 mm [0.079 in.] past the top of the tool flange.<br />
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in a hole in the tool flange and<br />
can be used as a keying or anti-rotation device in a user-designed end-effector. See Figure<br />
7-4 on page 85.<br />
Grounding<br />
NOTE: The dowel pin must not extend more than 2 mm [0.079 in.] past the<br />
top of the tool flange.<br />
If hazardous voltages are present at the end-effector, you must install a ground<br />
connection to the end-effector. See “<strong>Robot</strong>-Mounted Equipment Grounding” on page 60.<br />
Accessing Vacuum<br />
The tool flange is threaded at both ends with 1/8 G threads. This allows you to attach a<br />
vacuum line at the top, and attach a tool to the bottom of the flange to access the vacuum.<br />
See the bottom drawing in Figure 7-4 on page 85.<br />
<strong>Adept</strong> <strong>Quattro</strong> <strong>s650H</strong> <strong>Robot</strong> User’s Guide, Rev A 81