This is a pen attatchment for the ABB articulated robot arm – IRB 1200-5/0.9.

It requires two rubber bands, four screws on: the pen holder sides and flange sides - and one additional screw to secure the pen (if loose). It should perfectly fit a sharpie in the holder.

Assembly:

Slide in your pen holder (with a sharpie in it) and twist the pen holder so that it is in place. Attatch the pen flange on the robot flange by screwing it in. Then add two m3 screws on the side of each component. Finally wrap a rubber band on the end of each screw. See the image above to see what it's supposed to look like.