Chapter 3: Robot Installation The rotational alignment of the platform with the base is critical to the correct operation of the robot. CAUTION: Incorrect alignment of the platform will result in incorrect robot performance. Tool Flange Joint 3 Joint 2 Theta Drive Shaft Attachment Joint 1 X+ Y+ Figure 3-5. J4 Platform Orientation, Top View Both the theta drive shaft attachment on the robot base and on the platform are offset by about 2 in. from the centers of the robot base and tool flange. The platform should be attached so that the shaft aligns with the J4 motor, between Joint 1 and Joint 3 on the robot base.
Joint 1 in the preceding figure should connect to motor 1, which is immediately to the right of the Status Dis- play panel on the robot base. Attaching the Outer Arms One pair of outer arms attaches between each inner arm and the platform. No tools are needed. l Each outer arm has a ball joint socket at each end. l The inner arms and the platform have corresponding pairs of ball studs. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 28 of 156