Chapter 2: 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 2-5. J4 Platform Orientation, Top View Both the theta drive shaft attachment on the robot base and 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 Display 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. Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 28 of 142