Chapter 1: Introduction Platform Clocking The J4 platform, which is rotational, is constructed such that the clocking, or rotational align- ment, of the platform relative to the robot base is critical. This is detailed in Aligning the Plat- form with the Base on page 27. Platform Shipping l The platform, outer arms, and theta drive shaft are removed. l The platform is shipped assembled as a unit. You will need to connect the outer arms between the inner arms and the platform to reassemble the robot. The outer-arm assemblies are interchangeable.
For the Hornet 565 with the J4 platform, you will also have to connect the telescoping drive shaft that connects the platform to the fourth motor on the robot base. Any end-effectors and their air lines and wiring are user-supplied. SmartController EX The optional SmartController EX motion controller supports tracking more conveyors, as well as other options. Like the eAIB, the SmartController EX uses the eV+ operating system. It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion mod- ules. The SmartController EX also includes Fast Ethernet and DeviceNet. Figure 1-6.
SmartController EX Refer to the SmartController EX User’s Guide for SmartController specifications. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 13 of 156