Adept s650HS Quattro - Manual (Page 106)

Chapter 6: Optional Equipment Installation
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.
The holes on the bottom of the robot base are sealed with bolts and washer seals on the
Quattro HS robots. If you choose to use these holes for mounting lines, it is your
responsibility to ensure that the mounting seals meet USDA regulations.
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 or vacuum fitting of the flange
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 For Quattro s650HS robots, bolts must be sealed, to meet USDA regulations.
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.
l
Are not considered in the robot’s IP rating or USDA Acceptance.
Adept Quattro User's Guide, Rev F
Page 106 of 196