Chapter 2: Robot Installation 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. The added weight should be attached symmetrically about the platform center.
l Verify that the arms can be fully-extended without interference from the lines. 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 l Ensure that the lines (and retraction mechanism) do not apply significant force, in any loop to take up the slack when the platform is near the robot base. 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. Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 34 of 142