Chapter 5: Optional Equipment Installation
This chapter describes the process for installing various robot options such as end-effectors.
DANGER: Do not make modifications to the robot that are not described in
this document. Doing so can result in personal and equipment danger.
NOTE: Additional optional equipment installation may be necessary for IP54/65
and Cleanroom robot options. Refer to IP54/65 Option Considerations on page
129 and Cleanroom Option Considerations on page 131
5.1 Installing End-Effectors
You must provide, install, and ground (if necessary) any end-effector or other end-of-arm tool-
ing.
You can attach end-effectors to the tool flange using four M5 screws. Refer to Tool Flange
Dimensions on page 126 formore information.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits into the hole in the tool flange and
can be used as a keying or anti-rotation device with a user-designed end-effector.
The tool flange is not grounded to protective earth. 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. Refer to Grounding Robot-Mounted Equipment on page 80 for more inform-
ation.
If the end-effector requires a pneumatic supply or electrical connections, use the pass-through
connections on the robot body. Refer to Robot Connections on page 13for more information.
5.2 Mounting Locations for External Equipment
The robot arm has four multi-purpose mounting locations for adding external equipment. Each
location has a set of two tapped holes.
Additional Information: Refer to Figure 8-5. for mounting hole dimensional
information.
The five locations are shown in the following two figures.
21861-000 Rev A Viper 650 and 850 Robot with EtherCAT 83
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