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a. Swing the bottom end of the outer arm pair to the right, as far as possible.
b. Slip the right ball joint socket over the right ball stud. (Move the platform as
needed to do this.)
c. Move the platform and outer arm pair to the left as you slip the left ball joint
socket over the corresponding ball stud.
3. Ensure that all spring hooks are fully-seated in the grooves of the horseshoes. See the fol-
lowing figure.
Figure 1-7. Ball Joint Assembly, Showing Springs and Horseshoes
Attaching the Theta Drive Shaft (J4 Platform Only)
NOTE: The fixed platform does not use a theta drive shaft, so this section does not
apply to robots with a fixed platform.
Each U-joint has two identical ends. When the theta drive shaft is shipped, it will have one
end of a U-joint attached to each end. Attach the top end of the drive shaft to the J4 motor
shaft, labeled Top, first. This requires using a 3 mm hex key, with its short end shortened to 10
- 15 mm. A normal hex key will not fit in the space available.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
Chapter 1: Hornet 565 Quick Setup Guide
Flange
Joint 3
Theta
Drive
Shaft
Joint 1
Attachment
Figure 1-6. Top View of J4 Platform
Page 9 of 18
Tool
Joint 2
X+
Y+
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