Chapter 3: Robot Installation
External Mounting Locations on Robot
100 (850)
100 (650)
2x M3 7
36
35
2x M4 16
2x M5 12
2x M8 25
30
Figure 3-7. External Mounting Holes on Robot. Units are mm.
3.10 Designing End-Effectors
Design an end-effector such that it is in compliance with items described in this section.
CAUTION: If the end-effector design precautions are not observed, the
clamped parts of the robot may become loose, rattle, or be out of position. The
mechanical parts of the robot and robot controller may become damaged.
Continuous Turn on J6
As an option, the Viper 650/850 can be ordered so that Joint 6 (J6) is programmed for con-
tinuous turn. Note that if J6 is programmed for continuous turn, it may lose its calibration.
However, the other robot joints (J1 - J5) will not be affected.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece) will be
lighter than the maximum payload capacity of the robot (5 kg). The total mass includes the wir-
ing, tubing, etc.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 33
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