User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 31
If there is any doubt concerning the application, ask Adept to determine if it is an
intended use or not.
2.6 Robot Modifications
It is sometimes necessary to modify the robot in order to successfully integrate it into a
workcell. Unfortunately, many seemingly simple modifications can either cause a robot
failure or reduce the robot’s performance, reliability, or lifetime. The following
information is provided as a guideline to modifications.
Acceptable Modifications
In general, the following robot modifications will not cause problems, but may affect
robot performance:
• Attaching tooling, utility boxes, solenoid packs, vacuum pumps, screwdrivers,
lighting, etc., to the inner link, outer link, or J1 harness support.
• Attaching hoses, pneumatic lines, or cables to the robot. These should be designed
so they do not restrict joint motion or cause robot motion errors.
Unacceptable Modifications
The modifications listed below may damage the robot, reduce system safety and
reliability, or shorten the life of the robot.
• Modifying any of the robot harnesses or robot-to-PLC Server cables.
• Modifying any robot access covers or drive system components.
• Modifying, including drilling or cutting, any robot casting.
• Modifying any robot electrical component or printed-circuit board.
• Routing additional hoses, air lines, or wires through the robot.
• Modifications that compromise EMC performance, including shielding.
CAUTION: Making any of the modifications outlined
below will void the warranty of any components that
Adept determines were damaged due to the modification.
You must contact Adept Customer Service if you are
considering any of the following modifications.