User`s guide

Adept Quattro s650H Robot User’s Guide, Rev A 81
Optional Equipment
Installation 6
6.1 End-Effectors
You are responsible for providing and installing any end-effector or other tooling, as well
as vacuum lines and wiring to the end-effector.
Attaching
You can attach end-effectors to the tool flange using either four M6x1.0 screws, or a ring
clamp. Hardware for both methods is supplied in the accessories kit. See Figure 7-4 on
page 85 for a dimension drawing of the tool flange.
NOTE: The combined weight of the end-effector and the payload must not
exceed 6 kg.
The screws used to attach end-effectors to the tool flange must not extend
more than 2 mm [0.079 in.] past the top of the tool flange.
Aligning
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in a hole in the tool flange and
can be used as a keying or anti-rotation device in a user-designed end-effector. See Figure
7-4 on page 85.
NOTE: The dowel pin must not extend more than 2 mm [0.079 in.] past the
top of the tool flange.
Grounding
If hazardous voltages are present at the end-effector, you must install a ground
connection to the end-effector. See “Robot-Mounted Equipment Grounding” on page 60.
Accessing Vacuum
The tool flange is threaded at both ends with 1/8 G threads. This allows you to attach a
vacuum line at the top, and attach a tool to the bottom of the flange to access the vacuum.
See the bottom drawing in Figure 7-4 on page 85.