Installing and removing the robot

Materials and tools

Make sure you have the following materials and tools:

•	5-mm hex wrench (G5550-01523)

•	M6 mounting bolts, 8 (G5550-02705)

•	#2 Phillips screw driver (not supplied)

•	18-8 SS pan-head Phillips machine screws, 4 (G5550- 09078)

•	M05 split lock washers, 4 (G5550- 02453)

•	M05 flat washers, 4 (G5550- 02439)

•	2.5-mm hex wrench (not supplied)

•	Power cord (part number varies by country)

•	Robot cable (G5550- 23704)

•	Ethernet cable (G5550- 09363)

•	Emergency stop pendant and cable (16971- 001)

Installing the robot

When you install the robot, you first attach the robot to a stable and flat surface, mount the power supply (if desired), then connect the power, communication, and emergency stop pendant cables.

Attaching the robot

To attach the robot:

1	Position the robot on the attachment surface so that the base aligns over the mounting holes.

If the robot-cable connector is on the side of the base (robot 23083-211), make sure the connector is positioned such that the distance to the power supply will be minimal and that the robot cable will be clear of other devices on the attachment surface.

If the robot cable connector is on the bottom of the base (robot 23083-212), make sure the connector will be accessible from below the attachment surface.

2	Insert the M6 bolts in the eight mounting holes and use the supplied 5-mm wrench to tighten the bolts until snug.

Note: For custom tables, longer bolts and nuts and washers might be required.

Mounting the power supply

The power supply has two mounting brackets so that you can mount it on a standard 19-inch rack. The following diagram shows an example of how you can mount the power supply in a system.

 

IMPORTANT Because of its weight, Agilent Technologies recommends that you mount the power supply at the bottom of the rack. Mounting the power supply on the bottom of the rack also facilitates service access.

To mount the power supply on a standard mounting rack:

1	Insert each pan-head screw through a split-lock washer first, and then through a flat washer.

2	Align two holes in each mounting bracket with two holes in the rack.

3	Insert the screw-washer assembly into each hole and tighten using the screwdriver.

Alternatively, you can turn the power supply onto its left side and mount the power supply vertically. To mount the power supply vertically, you can remove the supplied mounting brackets and use your own mounting components. For vertical mounting specifications, see Mounting specifications.

Connecting the cables

To connect the cables:

1	Use the supplied power cord to connect the robot power supply to the power source.

2	Use the supplied robot cable to connect the robot to the power supply. The connector on the robot is on the side of or below the robot base.

3	Use the supplied Ethernet cable to connect the robot power supply to the controlling computer. Connect the computer to the lab’s wide area network.

4	Connect the free end of the emergency stop pendant cable to the ROBOT DISABLE connector on the robot power supply.

Figure. Power supply G5411-60010

 

Figure. Power supply G5411-60005

 

Removing the Direct Drive Robot

Before you start

Before you remove the robot from its attachment surface:

1	Move the robot arm to the shipping position. In DDR Diagnostics, click Move to shipping position in the Advanced tab. The robot tucks its forearm and grippers under its bicep. The tucked robot arm lowers along the mast to its packaging height.

 

WARNING  Keep out of the system while the robot is moving.

 

2	Turn off the system and the robot. For instructions, see the system user documentation and Turning off the Direct Drive Robot.

Procedure

To disconnect the robot:

Disconnect and remove the following:

•	Power cable

•	Robot cable

•	Ethernet cable

•	Emergency stop pendant cable

To detach the robot:

1	Using the supplied 5-mm hex wrench, unscrew the eight M6 bolts that are holding the robot to the attachment surface.

2	Place the robot on a flat, stable surface where it will be possible for you to access all sides of the robot.

Removing the power supply

To remove the power supply from the mounting rack:

1	Using the Phillips screwdriver, unscrew the four screws that are holding the power supply to the mounting rack.

2	Save the screws and washers for reinstallation.

Related information

 

For information about...	See...
Turning on the robot	Turning on the Direct Drive Robot
Installing the VWorks software	VWorks Automation Control Setup Guide
Adding the robot to a device file	Adding and deleting Direct Drive Robots in the device file
Creating profiles for the robot	Creating Direct Drive Robot profiles
Setting teachpoints	Setting teachpoints
Turning off the robot	Turning off the Direct Drive Robot
Installing the shipping brace	Installing the shipping brace
Packing the robot and power supply	Packing the robot in the shipping crate