Vacuum Robot Manual
4000-0315 Rev 1
20
1. Home all three axes by executing your HOM macro.
2. Place the arm assembly over the robot body, centering the largest hole
over the robot shaft. Lower the arm assembly over the arm shaft.
WARNING: Never push or move the Outer Link! Doing so can break the
belt. To move the Outer Link, push the Inner Link until the Outer Link is
in place.
3. Move the Outer Link as needed to align the screw holes. Screw in the
eight ¼ 20 x 5/8 screws.
4. Move the Outer Link until the Inner Link is centered over the Outer
Link in the Center Overlapping Position (COP).
5. Through the Outer Link, adjust the power lock (clamp) in the Inner
Link to align the six screws. While preventing the Outer Link from
moving, use the M5 metric wrench to tighten the six screws.
6. Push the Inner Link to move the Outer Link until the Power Lock is
accessible. Tighten the six screws.
7. To test the positioning of the arm, home the robot. If the robot
positions the arm links in the COP, the arm is correctly installed. If
not, loosen the Power Lock and center the arm again, as in Step 4.
8. Place the round cover on the Inner Link and attach with the five 4-40 x
¼ flat undercut Phillips screws. Because of the thinness of the cover,
Equipe has undercut these screws to fit flat.
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