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Chapter 5 - Optional Equipment Installation
58 Adept Cobra i600/i800 Robot User’s Guide, Rev E
Figure 5-1. Tool Flange Removal Details
Installing the Flange
1. Make sure the ball bearing is in the setscrew hole between the flange and the
shaft. Hold it in place with your finger as you get ready to install the flange.
2. Slide the flange up on the quill shaft as far as it will go, and rotate until the
setscrew is lined up with the original vertical groove.
3. Support the flange while using a 2.5 mm Allen driver to tighten the setscrew to
finger tight. Do not over-tighten the setscrew because this will cause the flange to
be off-center from the quill shaft.
4. Use a socket driver to tighten one of the socket-head screws part of the way, then
tighten the other one the same amount. Alternate between the two screws so there
is even pressure on both once they are tight. The torque specification for each
screw is 8 N
· m (70 in·lb).
5.3 User Connections on the Robot
User Air Lines
There are five user air line connectors on the robot user panel on the back of Joint 1 (see
Figure 5-2 ). The five air lines run through the robot up to another set of five matching
connectors on the top of the outer link (see Figure 5-3 ).
• The two larger connectors are 6 mm diameter.
• The three smaller connectors are 4 mm diameter.
NOTE: The DeviceNet feature is not operational in the Cobra i-series
robot. The connectors for DeviceNet are wired through the robot, and can
be used if the user is supplying the control software for DeviceNet.
Tool flange
assembly
Setscrew
M4 Socket-head
cap screws
Quill shaft