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This chapter describes the process for installing various robot options such as end-effectors,
solenoids, camera brackets, and adjustable hardstops.
!
NOTE: Additional optional equipment installation may be necessary for IP65
and Cleanroom robot options. Refer to IP65 Option Considerations on page
153Cleanroom Option Considerations on page 167
5.1 Installing End-Effectors
You must provide, install, and ground (if necessary) end-effector or other end-of-arm tooling.
An installed end-effector is shown in the figure below as an example.
You can attach end-effectors to the tool flange using four M6 screws. Refer to Tool Flange
Dimensions on page 149 for more information.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits into the hole in the tool flange and
can be used as a keying or anti-rotation device with a user-designed end-effector.
The Joint 3 quill and the tool flange are not grounded to protective earth. If hazardous voltages
are present at the end-effector, you must install a ground connection from the base of the robot
or the outer link to the end-effector. Refer to Grounding Robot-Mounted Equipment on page
85 for more information.
24402-000 Rev B
Chapter 5: Optional Equipment Installation
DANGER: Do not make modifications to the robot that are not described in
this document. Doing so can result in personal and equipment danger.
Figure 5-1. Suction Cup End-effector Installed
eCobra 600 and 800 Robots with EtherCAT
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