Chapter 6: Optional Equipment Installation

6.1 Installing End-Effectors

The user is responsible for providing and installing any end-effector or other end-of-arm

tooling. End-effectors can be attached to the tool flange using four M6 screws. See Figure 7-4

for a dimension drawing of the tool flange.

A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through-hole in the tool flange and can be used as a keying or anti-rotation device in a user-designed end-effector.

If hazardous voltages are present at the end-effector, you must install a ground connection

from the base of the robot or the outer link to the end-effector. For details, see Grounding Robot-

Mounted Equipment on page 38.

NOTE: A threaded hole is provided on the tool flange (see Figure 7-4). The user

may attach a ground wire through the quill connecting the outer link and the tool flange.

6.2 Removing and Installing the Tool Flange

The tool flange can be removed and reinstalled. If the flange is removed, it must be reinstalled in exactly the same position to avoid losing the calibration for the system.

There is a setscrew on the flange that holds the rotational position of the flange on the quill shaft. A ball bearing behind the setscrew contacts the shaft in one of the vertical-spline grooves in the shaft. Follow the procedures that follow to remove and reinstall the flange assembly.

Removing the Flange

1. Turn off high power and system power to the robot.

2. Remove any attached end-effectors or other tooling from the flange.

3. Use a 2.5 mm hex driver to loosen the setscrew (see Figure 6-1).

4. Note the vertical-spline groove that is in line with the setscrew. You must replace the flange in the same position.

5. Use a socket driver to loosen the two M4 socket-head screws.

6. Slide the flange down slowly until it is off the shaft. Be careful not to lose the ball bearing (3.5 mm) that is inside the flange behind the setscrew.

Adept Cobra s800 Inverted Robot User's Guide, Rev H1

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