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Facility Air Supply
It is the responsibility of the User to supply tubing and fittings which
may be required to plumb the facility air supply to the robot. The robot
is supplied with an air filter with a standard 1/4-inch Industrial
Interchange nipple.
Two "spare" air lines, 1/8 inch and 1/4 inch, are incorporated into the
robot to allow for User options. These lines run from the base of the robot
up to the area near the solenoid valve in the outer link. The lines are not
supplied with connection fittings at either end. At the base, the ends of
the air lines can be routed through either one of the access holes capped
with removeable plastic plugs (Figure 3-7). To gain access to the spare air
lines at the base, remove eight cap-head screws that secure the base top
cover, then lift and turn the cover out of the way. Be careful not to
disturb exposed parts and wiring when top cover is off. At the outer link
location, the air lines can be accessed by removing the outer-link cover.
3.9 End Effectors
Provision of an end effector or other end-of-arm tooling is the respon-
sibility of the User. The AdeptThree design allows simple integration
with end effectors. There is easy access to the User air lines, spare air
lines, and electrical connectors on the Tower printed circuit assembly
(PCA).
Installation
Physical attachment of an end effector to the flange may be accomplished
either by utilizing a ring clamp (supplied) or four 8-32 screws. For details
of the flange mounting surface refer to Figure 3-8.
Clamp-mounted End Effector
The following procedure describes the installation of a typical end
effector using the ring clamp. (Refer to Figure 3-9.)
1. Disconnect the air supply to the robot.
2. Remove the plugs from the "OPEN" and "CLOSE" air lines where
they protrude from the quill flange.
3. Place the ring clamp over the quill flange.