Designing End-Effectors
Adept Viper s650/s850 Robot with MB-60R User’s Guide, Rev D
31
External Mounting Locations on Robot
Figure 2-8. External Mounting Holes on Robot
2.8
Designing End-Effectors
Design an end-effector such that it is in compliance with items described in this section.
Continuous Turn on J6
It is possible to order the Adept Viper s650/s850 so that Joint 6 (J6) is programmed for
continuous turn. Note that if J6 is programmed for continuous turn, it may lose its
calibration. However, the other robot joints (J1 - J5) will not be affected.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot (5 kg). The total mass
includes the wiring, tubing, etc.
CAUTION:
If the end-effector design precautions are not
observed, the clamped parts of the robot may become
loose, rattle, or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.
2-M3, 7 DEEP
2-M4, 16 DEEP
2-M5, 12 DEEP
35
36
2-M8, 25 DEEP
30
104.5(VS-6556E)
100 (VS-6577E)
(Unit:mm)
