adept technology Hornet 565 Руководство по быстрой настройке - Страница 9
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Печатать страницуAttaching 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.
To attach the free end of the U-joint:
1. Slide the end of the U-joint over the shaft (platform or J4 motor).
The fit will be fairly tight.
The hole in the side of the U-joint needs to line up with the hole in the shaft.
2. Screw an M6 x 20 dog point set screw (included) through the shaft, going through the
hole in the side of the U-joint, and into the blind hole on the opposite side of the U-joint.
The U-joint is not threaded.
Use Loctite 242, and tighten to 5 N-m (3.7 ft-lbf) of torque. The head of the set-screw
should be flush with the outer surface of the U-joint.
NOTE: The platform and J4 motor will need to be aligned after the ACE software
has been installed, and the robot has been powered-on.
Adept Hornet 565 Robot Quick Setup Guide, Rev A
Chapter 1: Hornet 565 Quick Setup Guide
10 - 15 mm
Figure 1-8. Shortened Hex Key
Theta
Drive
Shaft
U-Joint
Set
Screw
J4 Shaft
(Motor or
Platform)
Figure 1-9. U-Joint, Set Screw, J4 Shaft | Drive Shaft
Page 9 of 18
3 mm
Top U-Joint
at J4 Motor
Upper Section
of Drive Shaft
Lower Section
of Drive Shaft
Bottom U-Joint
at J4 Platform