Adept Cobra s600/s800 Robot User’s Guide, Rev H 81
Optional Equipment
Installation 7
7.1 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
8-4 on page 108 for a detailed dimension drawing of the user 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 antirotation 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 50.
NOTE: A threaded hole is provided on the tool flange (see Figure 8-4 on
page 108). The user may attach a ground wire through the quill
connecting the outer link and the tool flange.
7.2 Removing and Installing the Tool (User) 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 steel ball behind the setscrew contacts the shaft in one of the vertical-spline
grooves in the shaft. Follow the procedures below to remove and replace 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 Allen wrench to loosen the setscrew (see Figure 7-1 on page 82).
Note the vertical-spline groove that is in line with the setscrew. You must replace
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 steel
ball (3.5 mm) that is inside the flange behind the setscrew.
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