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Robot

The “Robot” service section contains all service instructions for parts pertaining to the Kawasaki Robot and the electrical and pneumatic components contained on it. This service section does not contain service descriptions for the parts attached to the robot baseplate nor the tools on the end of the robot arm. These service instructions can be found in sections 5.2.4 and 5.3 respectively.

The Kawasaki BX300L Robot, Base of Arm camera, “Joint-4” I/O assembly, and custom End of Arm Tool, are all part of the main robot assembly and should only be serviced by trained personnel.

Figure 20 Robot Assembly

danger

Before servicing any systems inside the Robot Cell, the robot should be locked out using the OSHA approved Lock-Out Tag-Out hasp on the primary rack’s HV Enclosure.

Figure 21: Rack 1 High Voltage Panel

Base of Robot Interface​

The base of the robot interface is consisting of the following:

  • Ground connection

  • Air regulator

  • Kawasaki robot power and communication

  • Lion Power communication and power

GND connection​

The robot is required to be grounded to earth ground to reduce the possibility of static on the EoA Tool. A white ground wire is connected from the EoAT to the Joint 4 main bracket.

Robot Connection​

Joint 4 (J4) Module​

The joint 4 module contains all the I/O for the EoA components as well as the pneumatics that supply the gripper.

Figure 22 JOINT 4 ASSEMBLY EXPLODED VIEW

Joint 4 Bill of Material

Joint 4 Bill of MaterialJoint 4 Bill of Material
ITEM<br>NO.PART NUMBERDESCRIPTIONQTY.TORQUE
1101934SCREW, SHC, M4X 1243 N.m
2101224SCREW, SHC, M4 X 3023 N.m
3101155SENSOR, PRESSURE, 1....10 BAR21/16 TPFT
4101217MANIFOLD, PRESSURE SENSOR1
5101201BRACKET, ARM1
6101421FITTING, 3/8U X 6MM PC61/16 TPFT
7101424.375" UNIVERSAL X 10MM PC11/16 TPFT
8101722VALVE, SOLENOID, 5/3,<br>EXHAUST<br>CENTER1
9101723MUFFLER, 1/4"2
10101719SCREW, SHC, M4 X 4023 N.m
11102337IO LINK, ETHERNET/IP1
12101032BASE, ZIP TIE, PANDUIT PUM-<br>071-C011
13102083SCREW, SHC, M3 X 641.5 N.m
14103062MOUNT, NETWORK SWITCH1
15103063SWITCH, NETWORK, UBIQUITI1

Replacing The POE Switch​

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 or “Internal” inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Unplug all cables from the POE switch. Make note of which cable goes in which port. Some older models of the network switch may look different, this is the product that should replace the older style.

  3. Remove the switch by sliding the switch in the direction indicated in the image.

  4. Install the new POE switch by sliding it in the opposite direction. The switch should lock into the mounting base and will be fully inserted when the wings are at the back of the switch.

  5. Plug in all the cables back int

  • POE switch into their respective port.
  1. Flip the breaker CB-E0406 or “Internal” back on and place the robot out of teach mode. The robot electronics should now be operational.

Replacing the Air Solenoid Valve​

Figure 23 AIR SOLENOID VALVE​

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 or “Internal” inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  3. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  4. Push-to-connect fittings are used at the inlet and outlet of the valve. Mark the tubes to ensure insertion depth on re-install and to disconnect the tubes, press in the ring on the fitting and pull out the tubes.

  5. Remove the (3) push-to-connect fittings and the (2) air mufflers.

  6. Using a Phillips head screwdriver unscrew the (2) DIN connectors on either side of the valve and make note of their correct location.

  7. Lastly, remove the (2) M4 SHC screws and remove the valve.

  8. Locate the new valve and reinstall and fasten to the joint 4 plate using the (2) M4 SHC screws and torque to 3 Nm.

  9. Re-install the (3) push-to-connect fittings and tighten 1/16 of a turn after the fitting seats.

  10. Re-install the (2) mufflers and tighten to 2 turns past finger tight.

  11. Re-install the (2) DIN connectors and tighten with a Phillips head screwdriver. Ensure each connector is on the correct side of the valve.

  12. Push the air tubes into their respective fittings and ensure they are fully inserted by looking at the marked tube.

  13. Open the valve at the inlet of the regulator.

  14. Flip circuit breaker CB-E0406 or “Internal” and place the teach pendant and controller back into repeat mode.

Replacing the Air Manifold​

Figure 24 JOINT 4 AIR MANIFOLD

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  3. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  4. Push-to-connect fittings are used at the inlet and outlet of the valve. Mark the tubes to ensure insertion depth on re-install and to disconnect the tubes, press in the ring on the fitting and pull out the tubes.

  5. Remove all components attached to the manifold.

  6. Remove the (4) SHC screws and remove the manifold. 7. Re-install the new manifold and fasten the (4) M4 SHC screws and torque to 3 Nm. 8. Re-install the fittings and sensors; tighten until they bottom out and then torque 1/16 of a turn.

  7. Push the air tubes into their respective fittings and ensure they are fully inserted by looking at the marked tube.

  8. Open the valve at the inlet of the regulator.

  9. Flip circuit breaker CB-E0406 and place the teach pendant and controller back into repeat mode.

Replacing the Manifold Components​

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 or “Internal” inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  3. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  4. Push-to-connect fittings are used at the inlet and outlet of the valve. Mark the tubes to ensure insertion depth on re-install and to disconnect the tubes, press in the ring on the fitting and pull out the tubes.

  5. Fittings and Pressure Transducers: When replacing the fittings or pressure transducers be sure to tighten the fittings down 1/16 of a turn after the fitting has seated.

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Disconnect all the connections into the IO link master. Be sure to note their

    • location so that they can be put back into the correct spot.

  3. Remove the (2) M4 SHC screws and the IO link can now be removed.

  4. Install the new IO link master and torque the (2) M4 SHC screws to 3 Nm.

  5. Re-connect all the cables in the correct location. See section 5.2.5 for connection details.

  6. Flip the breaker CB-E0406 back on and place the robot out of teach mode. The robot electronics should now be operational.

Pneumatic System Supply​

The Pneumatic system delivers dry, compressed air at approximately 100 psi to the regulator at the base of the robot. The air is used to open and close the gripper at the EoA Tool.

It is important to provide DRY compressed air to the pneumatic system to prevent contamination of the solenoid valves.

Prior to working on any components in the pneumatic system, perform the following tasks :​

  1. Open the primary rack doors and shut off the compressor.

  2. Place the robot in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  3. Drain air system at the bottom of the compressor (red valve) or the push button at the bottom of the regulator at the base of the robot.

Part NamePart #Quantity
COMPRESSOR1016041
REGULATOR1013841
REGULATOR SHUT OFF VALVE1013871
REGULATOR PUSH CONNECT FITTING1013861
10mm TUBE10233515.5 IN
REGULATOR PRESSURE GAUGE1014871
COMPRESSOR INVERTER (450W)1020501
Or COMPRESSOR INVERTER (750W)1029861
3/8” ID AIR HOSE10162616 FT
WORM DRIVE HOSE CLAMP1016182

Figure 25: Compressor At Bottom Of Rack 1

Figure 26: Compressor/Inverter Location.

Replacing the Compressor See Section 4.3.4.4

Replacing the Regulator

  1. See beginning of section repair pre-requisites.

  2. Disconnect the tube in the push connect fitting by pushing in the ring and pulling out the tube. Remove the push connect fitting. Tighten to 3 TPFT during reinstallation.

  3. Unscrew the worm drive clamp on the rubber air hose and pull off the hose from the fitting. Unscrew the shut off valve from the regulator. Tighten to 3 TPFT during re-installation.

  4. Unscrew the pressure gauge. Tighten to 3 TPFT during re-installation.

  5. Using an adjustable wrench, unscrew the large nut at the top of the regulator. The regulator should now be free to remove from the mounting bracket.

  6. Install the new regulator and re-install the components.

Figure 27: Inverter Replacement

Replacing the Inverter​

The inverter is secured to the compressor shelf with QTY 4 – M5x10 SHC screws. To replace the inverter:

  1. Locate the inverter/compressor breaker inside of the low voltage panel and power the breaker off. This can be verified by confirming the green LED on the front of the inverter is no longer illuminated.

  2. Remove the compressor power plug from the power receptacle.

  3. Locate the 3 wired connections on the back of the inverter (Positive, Negative, and Ground), and remove these 3 wires.

  4. Unscrew the 4 – M5 screws and remove the inverter from the shelf.

  5. Installation of new inverter is opposite of the steps above.

    • a. Ensure wired connections on the back of inverter are properly connected or inverter damage will occur.

Replacing the Air Hose Assembly​

  1. See beginning of section repair pre-requisites.

  2. Unscrew the worm drive clamps at both ends of the air hose.

  3. Remove air hose from barb on the compressor and regulator. 4. Re-install air hose and tighten worm drive clamps and test for leaks.

ItemPart NamePart #Quantity
1OAK D PRO POE FF1020661
2CAMERA SOFTWARE1
3CABLE, M12 8-PIN TO RJ451020011
4MOUNT, BOA CAMERA, IR BLASTER1028861
5IR BLASTER (PCB)1026481
6POE CONVERTER1027341
7CABLE, CAT5E, YELLOW, 25FT1019961
8SCREW, FHT, M6 X 201017172
9SCREW, SHC, M4 X 121017292

Replacing the Camera​

  1. Remove green M12 Ethernet connector from the back of the camera

  2. Unscrew tw

  • M4x16mm SHC screws on the back of the camera bracket.

  1. Remove the old camera from the bracket.

  2. Install new camera, by first placing the screws through the bracket and into the back of the new camera.

  3. Connect green M12 Ethernet cable to camera.

    • a. Screw to finger tight.

Replacing the IR Blaster PCB​

  1. Remove the small cable attaching the IR Blaster to the POE Converter

  2. Open up the tab holding the PCB in place and pivot the board out.

  3. Reinstall the new board and reconnect the cable.

Replacing the POE Converter​

  1. Remove the small cable attaching the POE Converter to the IR Blaster PCB. 2. Remove the yellow ethernet cable from the opposite side of the POE Converter. 3. Slide the unit to the right out of the support tabs. 4. Reinstall the new converter and reconnect the two cables.

Replacing the Bracket​

  1. Remove the green ethernet cable from the camera.

  2. Remove the yellow ethernet cable from the POE converter.

  3. Remove the small cable connecting the POE Converter to the IR Blaster PCB.

  4. Unscrew bolts on the back of the bracket, that connect the bracket to the camera.

  5. Remove the old camera from the bracket.

  6. Remove the IR Blaster PCB

  7. Remove the POE Converter

  8. Unscrew the two screws that mount the bracket to the robot’s plate.

  9. Install a new bracket by screwing the bolts through the bottom of the bracket and into the robot’s plate.

  10. Reinstall the camera, IR Blaster, and POE Converter

  11. Reconnect the 3 associated cables.

Electrical: Main Harness​

The main electrical harness starts at the base of the robot pass thru plate and lands all the connections on joint 4. Those cables consist of the following:

  • 101939: CABLE, M12-A, 4-PIN, MALE TO FEMALE, STRAIGHT, 5m

    • Base of robot t

  • X31 on the IO link master.

  • 102373: PATCHCORD, CAT6E, HIGH FLEX, TEAL, 4X 2X24 AWG

    • Base of robot to network switch position with power icon.

  • 102335: TUBE, PU, 10mm

    • Base of robot to push connect fitting on solenoid valve inlet port “P”.

  • 102859: PATCHCORD, M12A X 8, 5m

    • Base of robot to field wireable connector on joint 4.

Electrical: Forearm Harness​

The forearm harness routes from joint 4 to the EOAT. This harness consists of the following cables:

  • 102313: LMI GOCATOR HARNESS 5M o Joint 4 POE Port + IO Link Port X01 t

  • Gocator on EOAT

  • 101974: TUBE, 6MM OD, POLYRETHENE, BLK o Pressure transducer manifold outlet to gripper.

  • 102279: CABLE, M12-A 4P, STRAIGHT 3M o IO Link Master Port X02 t

  • Time-Of-Flight sensor.

  • 102271: CABLE, M12-X TO RJ45, ANGLED, 3M o Network switch t

  • Luxonis camera

  • 102308: HOOK & LOOP SLEEVING 1.5" ID, (FT)

  • 102867: M12 8POS FIELD WIREABLE CONNECTOR

    • 102861: M12A X 4WIRE CORDSET

    • Field connector has (2) M12 cordsets. One goes to the magnetic switch(also has a field connector) and the other goes to the inductive sensor, both on the EOAT.

    • 102862: M12 X 4 POS FIELD WIREABLE CONNECTOR ▪ Adapts to the magnetic switch.

  • 102249: CONNECTION CABLE M12M4A, M8F4A, 3.5M o IO Link Port X03 t

  • Gripper Open/Close Sensor (AFS module).

End of Arm Tool – Small Gripper​

The End of Arm Tool is a group of tools that allow the robot to sense and interact with its surroundings.

surroundings.
Part NamePart #Quantity
Adapter Plate1018541
Gripper0010091
EoA Camera1018641
EoA Camera Mount1020951
2D Laser Scanner1018631
TOF Sensor1015901
Inductive Proximity Sensor1022361
M8 x M12 Splitter1014301

Adapter Plate​

The adapter plate attaches all the end of arm components to the robot flange. To replace the adapter plate, following these instructions:

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  3. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  4. Gripper Removal:

    • a. Remove the (2) 6mm tubes from the push connects. Make note of which tube goes in which fitting.

    • b. Unscrew the connector from the proximity sensor.

    • c. Unscrew the (2) magnetic switch connectors from the splitter. Make note of which connector goes in which location.

    • d. Using a 6mm hex driver, remove the (5) fasteners on the gripper to free it from the adapter plate. Torque to 28N.m upon re-installation.

      • i. NOTE: The shoulder screws shall be installed in the center and bottom right hole based on the image above.

  5. Laser Scanner Removal:

    • a. Disconnect the harness from the bottom of the scanner.

    • b. On the back of the adapter plate, remove the (4) M4 flat head Torx screws using a T25 driver. Torque to 6 N.m upon re-installation.

  6. ToF/Inductive Sensor Removal:

    • a. The inductive sensor and the time of flight (ToF) sensor are attached to the same mount and can be removed together.

  • b. Remove the (2) socket head cap screws fastening the mount to the adapter plate. Torque to 3 N.m upon re-installation.

  • c. The sensors and mount can hang off the side of the robot.

  1. Stere

  • Camera Removal

    • a. Using a 3mm hex driver, remove the (2) M4 socket head cap screws. Torque to 3 N.m upon re-installation.

    • b. The camera and mount shall be free and can hang over the robot until reinstallation.

  1. Routing Bracket Removal

    • a. Using a 3mm hex driver remove the (2) M4 SHCS, torque to 3 Nm upon reinstallation.

  2. With all components removed, using a 6mm hex drive, the (8) M10 flat head screws can now be removed to free the adapter plate from the robot. Torque to 116 Nm upon reinstallation.

  3. For assembly, follow these instructions in reverse.

Gripper​

The gripper is the component that attaches to the battery and allows the robot to manipulate the battery.

manipulate the battery.
Part NamePart #QuantityTorque
Schunk Gripper0010091
M8 Socket Head Cap Screw101922332 Nm
M8 Shoulder Screw101932232 Nm
Magnetic Proximity Sensor101154210 Ncm (.1 Nm)
Pin Presence Sensor1017141½ TPFT (Jam Nut)
Push Connect Fittings10195621/16 TPFT

Gripper Replacement – Generation 1

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  3. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  4. Push-to-connect fittings are used on the bottom of the gripper. Mark the tubes to ensure proper insertion depth on re-install and to disconnect the tubes, press in the ring on the fitting and pull out the (2) 6mm OD tubes. Using a 12mm box end wrench, remove the (2) push connect fittings.

  5. Remove the connector from the proximity sensor that sits between the (2) push connect fittings. Using a 7mm box end wrench, remove the sensor by first loosening the jam nut and then unscrewing the sensor.

  6. Using a .9mm hex key, loosen the small cap screw towards the back of the magnetic sensor. These can be removed after the gripper is removed from the adapter plate.

  7. Using a 6mm hex drive, remove the (5) M8 socket head cap screws from the gripper; the gripper should now be free from the adapter plate.

    • a. CAUTION: The magnetic sensors are still attached to the gripper; carefully hold the gripper in one hand and slide out the switches in the other. Take note of which switch was installed in which slot.

  8. Locate the replacement gripper, position the magnetic sensors in the slots on the gripper in the original orientation (see page 4) , and install the fasteners that come with the replacement gripper. The M8 shoulder screws install in the center (shorter screw, green circle) and bottom right(longer screw, red circle) clearance holes in the gripper. Torque the shoulder screws to 25 Nm and the remaining screws to 30 Nm.

  9. Install the push connect fittings and torque to 1/16 turns past finger tight. You can now install the tubes into the fittings.

  10. Install the pin presence sensor and thread into place until the sensor becomes flush with the cavity inside surface of the gripper. Spin the first jam nut into place until bottoms out on the gripper and then spin the second jam nut until it bottoms out onto the first jam nut and tighten 1/4 TPFT.

  11. Reconnect all the cables to the inductive sensor and magnetic switches.

Magnetic Proximity Sensor Calibration​

  1. Assembly steps for mounting the magnetic switch MMS 22-SA Clamping system open: See next page for Diagram

    • a. Put the clamping system in the "open" position. l Push the magnetic switch 1 into the long groove until it touches the housing (see illustration "Assembling the proximity switch"). l

    • i. Pull back the magnetic switch 1 slowly until it switches.

    • ii. Fix the magnetic switch in this position in the groove with the setscrew with the .9mm hex key.

    • iii. Test the function by clamping and opening the clamping system.

    • b. Clamping system clamped i. Clamp the pallet to be clamped, position »clamped«

    • ii. Push the magnetic switch 2 into the short groove until it touches the housing. The magnetic switch switches (see illustration "Assembling the proximity switch").

    • iii. Pull back the magnetic switch 2 slowly until it reaches the switching edge but still switches.

  • iv. Fix the magnetic switch in this position in the groove with the setscrew.

  • v. Test the function by clamping and opening the clamping system.

    1. Once the magnetic sensors are calibrated, torque to .1 Nm (10 Ncm).

Magnetic Proximity Sensor Replacement​

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Remove the magnetic sensor M8 connectors from the splitter.

  3. Using a .9mm hex key, loosen the small cap screw towards the back of the magnetic sensor. These can be removed after the gripper is removed from the adapter plate.

  4. Using a 6mm hex drive, remove the (5) M8 socket head cap screws from the gripper; the gripper should now be free from the adapter plate.

    • a. CAUTION: The magnetic sensors are still attached to the gripper; carefully hold the gripper in one hand and slide out the switches in the other. Take note of which sensor was installed in which slot.

  5. Locate the new magnetic sensors and install them in the same orientation and position as the previous sensors.

  6. Once the magnetic sensors are calibrated, torque to .1 Nm (10 Ncm). 9. See section 5.4.2.1 for calibration.

Pin Presence Sensor Replacement​

  1. Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  2. Remove the connector attached to the pin presence sensor.

  3. Loosen the jam nut on the sensor and then unscrew the sensor.

  4. Install the new sensor until it is flush with the inside of the gripper cavity.

  5. Tighten the jam nut.

EoA Camera​

Camera Replacement

  • Remove the two bolts that attach the camera assembly to the EoA Adapter Plate.

  • Remove the two bolts that connect the EoA Camera to the EoA Camera Mount.

  • Unscrew the green ethernet cable from the back of the EoA Camera.

  • Screw the green ethernet cable into the new EoA Camera.

  • Connect the EoA Camera mount to the EoA Camera using two bolts.

    • If there is damage to the EoA Camera due to a collision, the EoA Camera Mount will likely need to be replaced as well.

  • Connect the EoA Camera mount to the EoA Adapter Plate using two bolts.

  • Ensure the ethernet cable is routed so that it does not block.

  • Re-install camera and torque fasteners to 3 Nm.

Camera Calibration​

See EoA Tool Calibration instructions.

Laser Scanner​

Scanner Replacement

  1. Remove the cable from the bottom of the Laser Scanner

  2. Remove the (4) M4 flat head screws from the backside of the EoA Adapter Plate.

  3. Connect the cable (TODO) to the bottom of the new Laser Scanner.

  4. Mount the new Laster Scanner to the EoA Adapter Plate using four screws from the backside of the EoA Adapter Plate. Torque the screws to 3 N.m.

    • a. The cable of the Laser Scanner should be on the bottom.

  5. Calibrate the EoA Tools by following the EoA Tool Calibration instructions.

Scanner Calibration​

See EoA Tool Calibration instructions.

TOF Sensor​

TOF Replacement

  1. Using a 2.5mm hex drive, remove the (2) M3 SHC screws connecting the sensor the adapter plate. Plate from the TOF Sensor.

  2. Unscrew the connector from the back of the TOF Sensor cable.

  3. Connect the cable to the new TOF Sensor cable.

  4. Mount the new TOF sensor to the EoA Adapter Plate using M3 screws and torque to 1.3 Nm.

  5. Calibrate the EoA Tools by following the EoA Tool Calibration instructions.

TOF Calibration

See EoA Tool Calibration instructions.

End of Arm Tool – XL Gripper​

The End of Arm Tool is a group of tools that allow the robot to sense and interact with its surroundings.

Adapter Plate​

The adapter plate attaches all the end of arm components to the robot flange. To replace the adapter plate, following these instructions:

Prior to working on the robot, ensure that the robot is in teach mode and the circuit breaker CB-E0406 inside the low voltage box is switched off. The breaker location is indicated by the red arrow in Figure 14.

  1. Locate the shut off valve at the inlet of the regulator on the base of the robot and rotate it 90 degrees. It should be perpendicular to the valve in the closed position.

  2. Locate the regulator at the base of the robot and press and hold the pressure release button on the bottom of the regulator until all the air flows out.

  3. Remove all the fasteners indicated by the red circles.

  4. The adapter plate should have all components removed. Using an 6mm hex, remove the (8) screws fastening the adapter plate to the robot and torque to 116Nm upon reinstallation.

  5. See component replacement instructions below.

Gripper Removal:​

  1. Remove the (2) 6mm tubes from the push connects. Make note of which tube goes in which fitting.

  2. Using a 6mm hex driver, remove the (4) fasteners on the gripper to free it from the adapter plate. Torque to 28N.m upon re-installation.

    • i. NOTE: Take note of which location each shoulder screw was installed.

  3. Remove the plate presence sensor using 3mm hex for the (2) M4 screws. Torque to 3Nm upon reinstallation.

Laser Scanner Removal:​

  1. Disconnect the harness from the bottom of the scanner.

  2. On the back of the adapter plate, remove the (4) M4 flat head Torx screws using a T25 driver. Torque to 6 N.m upon re-installation.

ToF/Inductive Sensor/Magnetic Switch Removal:​

  1. The inductive sensor, magnetic switch, and the time of flight (ToF) sensor are attached to the same mount and can be removed together.

  2. Remove the (2) socket head cap screws fastening the mount to the adapter plate. Torque to 3 N.m upon re-installation.

  3. The sensors and mount can hang off the side of the robot.

    • i. If replacing the ToF sensor, remove the (2) M4 screws and torque to 3Nm upon reinstallation.

    • ii. If replacing the magnetic or inductive sensor, you must first remove the jam nut and harness from either sensor.

iii. When reinstalling, use the calibration plate attached to the gripper to ensure these sensors are not installed past the surface of the plate. Screw in the sensors up to the plate, and back off each 1/8”. Tighten the jam nut on each when in position.

Stere​

  • Camera Removal

  1. Using a 3mm hex driver, remove the (2) M4 socket head cap screws. Torque to 3 N.m upon re-installation.

  2. The camera and mount should be free and can hang over the robot until reinstallation.

Routing Bracket Removal​

  1. Using a 3mm hex driver remove the (2) M4 SHCS, torque to 3 Nm upon reinstallation.

Laser Scanner​

Scanner Replacement​

  1. Remove the cable from the bottom of the Laser Scanner

  2. Remove the (4) M4 flat head screws from the backside of the EoA Adapter Plate.

  3. Connect the cable to the bottom of the new Laser Scanner.

  4. Mount the new Laster Scanner to the EoA Adapter Plate using four screws from the backside of the EoA Adapter Plate. Torque the screws to 3 N.m.

    • a. The cable of the Laser Scanner should be on the bottom.

  5. Calibrate the EoA Tools by following the EoA Tool Calibration

Scanner Calibration

See EoA Tool Calibration instructions

TOF Sensor​

TOF Replacement

  1. Using a 2.5mm hex drive, remove the (2) M3 SHC screws connecting the sensor the adapter plate. Plate from the TOF Sensor.

  2. Unscrew the connector from the back of the TOF Sensor cable.

  3. Connect the cable to the new TOF Sensor cable.

  4. Mount the new TOF sensor to the EoA Adapter Plate using M3 screws and torque to 1.3 Nm.

  5. Calibrate the EoA Tools by following the EoA Tool Calibration instructions.