User`s guide

Chapter 6 - Optional Equipment Installation
82 Adept Quattro s650H Robot User’s Guide, Rev A
6.2 Routing End-effector Lines
End-effector lines (either vacuum/air lines or electrical wires) can be routed to the
platform by:
• Attaching them to the inner and outer arms, and then to the platform.
• Routing them from the robot support frame to the outer arms.
• Routing them from the robot base directly to the platform.
If end-effector lines are attached to the outer arms to reach the end-effector, either directly
from the frame, or along the inner arms:
• Make every attempt to keep the load on the outer arms as evenly-balanced as
possible.
The added weight should be attached symmetrically about the platform center.
• Verify that the arms can be fully-extended without interference from the lines.
Ensure that there is enough line to reach the end-effector or vacuum fitting of the
flange at all platform locations.
• Verify that the platform can be fully-rotated at all positions without affecting or
being affected by the lines.
• Verify that any service loop or excess line does not hang down below the
end-effector at any platform position.
• Verify that excess line cannot become tangled in the outer arms or platform.
If end-effector lines are attached directly to the bottom of the robot base to reach the
end-effector:
• Lines attached to the robot base need some form of retraction mechanism or
service loop to take up the slack when the platform is near the robot base.
• Ensure that the lines (and retraction mechanism) do not apply significant force, in
any direction, to the platform.
• Ensure that lines going to the robot base do not block your view of the status LED.
• Ensure that lines going to the robot base do not interfere with the inner arm
movement.
User-added end-effector lines:
• Should be checked for the entire work envelope being utilized.
They must reach without being pulled, and without impeding arm or platform
movement.
• Cannot pull against the platform with significant force. Robot performance will be
affected.
• Must be considered as part of the payload, if they add weight to the platform or
outer arms.
• Are the user’s responsibility for maintenance.
They are not covered in the Maintenance section of this manual.
• Are not considered in the robot’s IP rating.