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Adept Cobra i600/i800 Robot User’s Guide, Rev G 71

Optional Equipment

Installation 6

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 on page 94 for a dimension drawing of the tool flange.

A 6 mm diameter x 12 mm dowel pin (not 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. See

“Robot-Mounted Equipment Grounding” on page 35.

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

page 94). 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 required. 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. The following procedures cover removal and

reinstallation of the flange.

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 Allen driver to loosen the setscrew (see Figure 6-1 on page 72). Note

the vertical-spline groove that is in line with the setscrew. You must reinstall the

flange in the same position.

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

5. Slide the flange down slowly until it is off the shaft. Be careful not to lose the ball

bearing (3.5 mm) that is between the flange and shaft, behind the setscrew.

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