Vacuum Robot Manual
4000-0315 Rev 1
13
The arm on a VAC400 series robot can move within a 340º arc.
Determine where to locate the 20º dead zone and position the robot
accordingly.
Align the eight holes in the robot flange with the eight holes in the
mounting surface.
5. From underneath the robot, screw the eight ¼-20 x 1 socket cap-head
screws to bolt the robot into place. Tighten the screws, moving
diagonally through the circle of eight screws, in this pattern:
6. Repeat once or twice to ensure that the screws are equally tightened to
60 in-lbs.
7. Remove the lift rings. Re-install any ¼-20 set screws or plugs.
Installing the Controller and Pre-aligner
Place the controller so connections between the controller and robot are
not stressed. For electro-magnetic interference (EMI) protection, Equipe
recommends that you place the controller as close to the robot as possible.
Note that the controller can be placed vertically or horizontally. Be sure
that the fan vents on the controller have at least 2 in (50.8 cm) of clearance
from any obstruction or surface.
Refer to the Equipe Software and Controller Manual for further
information about the controller. If you have an optional Facet Pre-
aligner, refer to the Equipe Vacuum Pre-aligner Manual for installation
instructions.
Connecting the Robot and Controller
Equipe provides an RS-232C connection for host control. The system host
transmits ASCII commands to the controller through a DB25 male
connector, COM1. The RS-232 serial port is located on the CPU card at
the back of the controller box.
The RS-232 cable provides these connections: RX/TX, RTS/CTS, Signal
GND, and Shield. The shield is either soldered to the D shell connectors
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