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11. After the slip ring is installed, rotation of the wire bundle must be prevented by attaching a black
Delrin clamp around the slip ring hub. This clamp is slotted so that it can be slipped over the
wires and attached to the hub with a M2.5 X 6mm SHCS. Some older slip rings had heat shrink
tube over the hub. This should be removed when attaching the Delrin Clamp.
12. Replace the Gripper and re-attach the new Gripper. Be sure the dowel pin in the wrist pulley
flange is located in the notch in the top of the gripper housing. Be sure the slip ring wires do not
get pinched during re-assembly.
13. It is not necessary to re-calibrate the robot after replacing the 23N Gripper. However, after
replacing the 60N Gripper for the PF3400, you must run CALPP Rev 33 or later, with the 60N
gripper fingers closed.
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