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A steel ball behind the setscrew contacts the shaft in one of the vertical-spline grooves in the
shaft.
Procedure for Removing the Tool Flange
Use the following procedure to remove the tool flange.
Be careful to not misplace the steel ball (3.5 mm) that is inside the flange, behind the setscrew.
1. Remove all power from the robot.
2. Remove any attached end-effectors or other tooling from the flange.
3. Use a 2.5 mm hex wrench to loosen the setscrew.
Note the vertical-spline groove that is in line with the setscrew. You must reinstall the
flange in the same position.
4. Use a socket driver to loosen the two M4 socket-head screws.
5. Slide the flange down slowly until it is removed from the shaft.
Replacing the iCS-ECAT Amplifier Chassis
This section describes the process of removing and replacing the iCS-ECAT
IMPORTANT: The Teach Restrict and E-stop hardware delay configurations are
lost when replacing an iCS-ECAT unit. These safety settings must be configured
24402-000 Rev B
Figure 7-8. Tool Flange Setscrew
eCobra 600 and 800 Robots with EtherCAT
Chapter 7: Maintenance
amplifier.
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