Chapter 3: Robot Installation WARNING: Do not drill or tap the tool flange, as this would weaken it. Routing End-effector Lines End-effector lines (either vacuum/air lines or electrical wires) can be routed to the platform by: l Attaching them to the inner and outer arms, and then to the platform. l Routing them from the robot support frame to the outer arms. l 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: l Make every attempt to keep the load on the outer arms as evenly-balanced as possible.
l Verify that the arms can be fully-extended without interference from the lines. The added weight should be attached symmetrically about the platform center. Ensure that there is enough line to reach the end-effector at all platform locations. l Verify that the platform can be fully-rotated at all positions without affecting or being affected by the lines. l Verify that any service loop or excess line does not hang down below the end-effector at any platform position. l 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:
l 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. l Ensure that the lines (and retraction mechanism) do not apply significant force, in any direction, to the platform. l Ensure that lines going to the robot base do not block your view of the status LED. l Ensure that lines going to the robot base do not interfere with the inner arm movement. User-added end-effector lines: l Should be checked for the entire work envelope being utilized. They must reach without being pulled, and without impeding arm or platform movement. l Cannot pull against the platform with significant force.
Robot performance will be affected. l Must be considered as part of the payload, if they add weight to the platform or outer arms. l Are the user’s responsibility for maintenance. They are not covered in the Maintenance section of this manual. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 34 of 156