PreCise PF400 - Replacing the Electric Grippers or Slip Ring Harness

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Replacing the Electric Grippers or Slip Ring Harness
DANGER: Before replacing the Gripper Harness, the AC power should be removed.
Tools Required:
1. 2.5 mm hex driver or hex L wrench
2. 2.0 mm hex driver
3. 1.5mm hex driver
4. 1.3mm hex driver
Spare Parts Required for Gripper, one of the following:
1. Low Profile 23N Electric Gripper” Precise P/N PF0A-MA-00001 (Agilent).
2. PF400 23N Servo Gripper without fingers Precise P/N PF0S-MA-00001 (Standard)
3. PF3400 60N Servo Gripper without fingers PF3S-MA-00001 Rev A1
Spare Parts Required for Slip Ring, one of the following:
1. PF400 Slip Ring Harness Assembly, 23N Brake Gripper (Agilent) PF04-MA-00002
2. PF400 Slip Ring Harness Assembly, 23N Spring Gripper (Standard) PF04-MA-00010
3. PF3400 Slip Ring Harness Assembly, 60N Spring Gripper PF04-MA-00030
To replace the Gripper the user must:
1. Turn off the robot power and remove the AC power cord.
2. Remove the Outer Link Cover.
3. Remove the Gripper Controller and P Clamp holding the slip ring cable. Slide the grommet out of
the notch in the belt cover.
4. Remove the 4 M3 FHCS that attach the belt cover. Tip up the belt cover and slide a pencil under
it to hold it up to provide access to the slip ring flange.