View source for Unmounting the default gripper

Before dismounting the default gripper be sure, that the power of the robot is turned OFF. Than rotate the 5th joint, so that you can get at the screws with an Allen wrench. Remove the four screws and hold the gripper (otherwise it could fall down).

[[File:ArmStartposition.jpg |thumb|center| 800px|Remove the four screws]]
[[File:ArmRotatedAndUnscrewing.jpg |thumb|center| 800px|Remove the four screws]]

Now lift the gripper carefully and take care of the cables, which are still connected with the gripper.


[[File:ArmLiftGripper.jpg |thumb|center| 800px|Lift Gripper]]