Robot Gripper Adjustment Procedure

Procedure for adjusting the lift tray of R5 robots

Perform this procedure if experiencing Lift Skew notifications, Gripper Communication Failure notifications, or Wire Failure errors.

Tools Needed: 

• 2.5 mm hex key 
  • (Some robots have T10 torx head screws instead of hex)
• 4mm allen key (head does not matter)
• Adjustment Bars (2) 

Procedure: 

1. Hit the emergency stop button. 
2. Remove the top cover of the robot.
3. Lower the gripper tray to about half the height of the robot using the lift brake. 
   1. The lift brake is located between the front cover of the robot and the inside wall of the robot between the belts. To release the brake, pull up on the small metal stopper. This will release the gears and allow the lift tray to free fall, so make sure you are simultaneously holding on to one of the lift bars.
4. Press down on the gripper tray in all four corners to ensure there is no slack in the wires. 
5. Place two identical, straight bars that are longer than the width of the robot on top of the gripper, one on each side. You can use the ones included in the spare parts cabinet.
6. Lift up the Gripper until the bars touch the Robot frame. To do this, manually twist the lift bar as shown in the picture below.
   1. NOTE: Do NOT use the lift button to electronically lift the gripper. This can cause damage to the lift motor.
7. Loosen both M5x10mm hex socket setscrews (2,5mm hex key) on the strip reel, but do not remove them. Only loosen one strip reel at a time! 
8. To make the adjustment, insert the 4mm allen key in the hole next to the set screw. Use the allen key as a lever to push/pull the strip reel in the proper direction to level the lift tray. Once it is in the proper position, tighten the set screw.  
9. Repeat the adjustment as needed on all four strip reels.
10. Using the parallel bars, ensure there is equal distance between each corner.