adept technology Adept XSYS User`s guide

AdeptViper
s650/s850 Robot
User’s Guide
AdeptViper
s650/s850 Robot
User’s Guide
P/N: 05173-000, Rev A
August 2005
3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452
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41, rue du Saule Trapu • 91300 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62
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in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. Please email your comments to: techpubs@adept.com.
Copyright  2005 by Adept Technology, Inc. All rights reserved.
The Adept logo, AdeptVision, AIM, HexSight, and HexaVision
are registered trademarks of Adept Technology, Inc.
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Adept C60, Adept CC, Adept Cobra 550, Adept Cobra 550 CleanRoom, Adept Cobra 600, Adept Cobra 800,
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Table of Contents
1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AdeptViper s650/s850 Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Adept PA-4 CAT-3 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Precautions and Required Safeguards
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Definition of a Manipulating Industrial Robot . . . . . . . . . . . . . . . . . . . . . . .
Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hazards From Expelling a Part or Attached Tooling . . . . . . . . . . . .
Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
14
14
15
15
2.3 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control System Behavior Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
17
18
18
2.4 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.5 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.6 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.7 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.8 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.9 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.10 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.11 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.12 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 23
2.13 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
AdeptViper s650s/850 Robot User’s Guide, Rev A
5
Table of Contents
2.14 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 23
2.15 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3
Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 25
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Precautions in Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Transport Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 Mounting the Robot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.5 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 32
3.7 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.8 Designing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Moment of Inertia Around J4, J5 and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4
System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 Installing the PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4 Connecting 3-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Connecting the PA-4 3-Phase AC Power Cord to AC Supply . . . . . . . . . . 43
Typical 3-Phase AC Power Installation Diagrams. . . . . . . . . . . . . . . . . . . . . . 44
4.5 Connecting 1-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PA-4 1-Phase AC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Connecting the PA-4 1-Phase AC Power Cord to AC Supply . . . . . . . . . . . 45
Typical Single Phase, 220 VAC Power Installation Diagrams . . . . . . . . . . . . 47
5
System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.2 Learning to Program the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.4 Installing Axis Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.5 Caution Label on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6
AdeptViper s650s/850 Robot User’s Guide, Rev A
Table of Contents
5.6 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.1 Installing and Using Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.2 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6.3 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
AdeptViper s650s/850 Robot User’s Guide, Rev A
7
Table of Contents
8
AdeptViper s650s/850 Robot User’s Guide, Rev A
Introduction
1.1
1
Product Description
AdeptViper s650/s850 Robots
The AdeptViper s650 and AdeptViper s850 are high-performance, six-axis robots designed
specifically for assembly applications. The speed and precision of the AdeptViper robots
also make them ideal for material handling, packaging, machine tending, and many other
operations requiring fast and precise automation.
NOTE: The descriptions and instructions in this manual apply to both the
AdeptViper s650 and the AdeptViper s850, except for instances where
there is a difference, as in dimension and work envelope drawings. In
those cases the information is presented for both robots.
Second arm
3rd-axis motor cover (rear side)
4th axis (J4)
4th-axis cover
(+)
Second arm cover
(+)
(+)
(-)
(+)
(-)
(-)
5th axis (J5)
6th axis (J6) (-)
3rd axis (J3)
First arm
(+)
2nd-axis motor cover (rear side)
2nd axis (J2)
(-)
(-)
Base
(+)
1st axis (J1)
Figure 1-1. Robot Axis Identification
AdeptViper s650/s850 Robot User’s Guide, Rev A
9
Chapter 1 - Introduction
Adept SmartController CX
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion and vision controllers. The SmartController CX is designed for use
with Adept Cobra s600 and s800 robots, Adept SmartModules, the AdeptViper robot, and
the Adept sMI6 Module for the SmartMotion product.
The SmartController CX supports an integrated vision option and a conveyor tracking
option. It offers scalability and support for IEEE 1394-based digital I/O and general
motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo,
Adept's distributed controls architecture supporting Adept products. The controller also
includes Fast Ethernet and DeviceNet.
SmartServo
OK
HPE
LAN
SF
ES
HD
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
2.2
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
BELT ENCODER
ON
OFF
1
2
3
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V
5A
-+
-+
SmartController CX
*S/N 3562-XXXXX*
CAMERA
R
Figure 1-2. Adept SmartController CX
Adept PA-4 CAT-3 Power Chassis
The PA-4 CAT-3 includes AC-DC power conversion electronics that supports a range of
Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes
dual (redundant) high-power AC contactors that, in combination with the sDAI, meet the
Category-3 E-Stop requirements per EN-954. The PA-4 is configured with J Amplifier
modules to support the AdeptViper robot systems.
The J amplifiers in the AdeptViper robot system are controlled by the sDAI distributed
control module. The sDAI module resides in the PA-4 chassis and contains a RISC
microprocessor and interface circuitry that close the servo loops for high- performance
robot motion. The sDAI is connected to a host Adept SmartController via the SmartServo
interface (based on IEEE 1394).
10
AdeptViper s650/s850 Robot User’s Guide, Rev A
Installation Overview
1.2
Installation Overview
The system installation process is summarized in the following table. Refer also to the
system cable diagram in Figure 4-1 on page 39.
Table 1-1. Installation Overview
1.3
Task to be Performed
Reference Location
1. Mount the robot on a flat, secure mounting surface.
See Section 3.4 on page 30.
2. Install the SmartController, Front Panel, and
AdeptWindows software.
See Section 4.2 on page 40.
3. Install the PA-4 power chassis.
See Section 4.3 on page 40.
4. Install the Arm Power/Signal cable between the
PA-4 and the robot.
See Section 4.3 on page 40.
5. Install the IEEE 1394 and XSYS cables between
the PA-4 and SmartController.
See Section 4.3 on page 40.
6. Connect AC power to PA-4 power chassis.
See Section 4.4 on page 42.
7. Start AdeptWindows, connect to the controller, and
turn on power to the system.
See Section 5.1 on page 49.
Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for AdeptViper robot
systems can be found on the Adept Website, in the Download Center of the Support
section.
http://www.adept.com/support/downloads_disclaimer.asp
In the Download Types search box, select Regulatory Certificates to find the document,
which you can then download.
AdeptViper s650/s850 Robot User’s Guide, Rev A
11
Chapter 1 - Introduction
1.4
How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on
getting assistance with your Adept software and hardware. Additionally, you can access
information sources on Adept’s corporate web site:
http://www.adept.com
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Cobra
s600/s800 robot system. There are additional manuals that cover programming the
system, reconfiguring installed components, and adding other optional components; see
Table 1-2. These manuals are available on the Adept Document Library CD-ROM shipped
with each system.
Table 1-2. Related Manuals
Manual Title
Description
Adept SmartController
User’s Guide
Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.
Adept PA-4 Power Chassis
User’s Guide
Contains complete information on the installation and
operation of the PA-4 Power Chassis.
AdeptWindows Installation
Guide
Describes installation of AdeptWindows software.
Instructions for Adept
Utility Programs
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.
V+ Operating System User’s
Guide
Describes the V+ operating system, including disk file
operations, monitor commands, and monitor command
programs.
V+ Language User’s Guide
Describes the V+ language and programming of an Adept
control system.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access a local copy of the ADL from the Adept Software CD shipped with your
system, or from the separate ADL CD. Additionally, an Internet version of the ADL can be
accessed by going to the Adept Web site and selecting Document Library from the home
page. To go directly to the Adept Document Library, type the following URL into your
browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the
ADL main page. To view a list of available product documentation, select the Document
Titles option.
12
AdeptViper s650/s850 Robot User’s Guide, Rev A
Safety
2.1
2
Dangers, Warnings, Cautions, and Notes
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in serious
injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in minor injury or damage to the equipment.
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
AdeptViper s650/s850 Robot User’s Guide, Rev A
13
Chapter 2 - Safety
2.2
Precautions and Required Safeguards
This manual must be read by all personnel who install, operate, or maintain Adept
systems, or who work within or near the workcell.
CAUTION: Adept Technology strictly prohibits
installation, commissioning, or operation of an Adept
robot without adequate safeguards. These must be
compliant with applicable local and national standards.
Installations in EU and EEA countries must comply with
EN 775/ISO 10218, especially sections 5,6; EN 292-2; and
EN 60204-1, especially section 13.
Definition of a Manipulating Industrial Robot
The definition of a manipulating robot according to (ISO 10218:1992(E)) is as follows:
“A manipulating robot is an automatically controlled, reprogrammable, multipurpose,
manipulative machine with several degrees of freedom, which may be either fixed in
place or mobile for use in industrial automation applications.”
Safety Barriers
Safety barriers must be provided that prevent personnel from entering the workcell
whenever power is applied to the equipment. Adept systems are computer-controlled and
may activate remote devices under program control at times or along paths not
anticipated by personnel. It is critical that safeguards be in place to prevent personnel
from entering the workcell whenever power to the equipment is present.
The robot system integrator (user or operator) must ensure that adequate safeguards,
safety barriers, light curtains, safety gates, safety floor mats, etc., are installed. The robot
workcell must comply with applicable local and national standards (see Section 2.7 on
page 21).
The height and the distance of the safety fence from the robot must ensure that personnel
cannot reach the danger zone of the robot.
The Adept control system has features that aid the user in constructing system safeguards,
including customer emergency stop circuitry and digital input and output lines. The
emergency power-off circuitry is capable of switching external power systems and can be
interfaced to the appropriate user-supplied safeguards. See the Adept SmartController
User’s Guide for additional information.
Impact and Trapping Points
Adept robots are capable of moving at high speeds. If a person is struck by a robot
(impacted) or trapped (pinched) serious injury could occur. Robot configuration, joint
speed, joint orientation, and attached payload all contribute to the total amount of energy
available to cause injury.
14
AdeptViper s650/s850 Robot User’s Guide, Rev A
Precautions and Required Safeguards
Hazards From Expelling a Part or Attached Tooling
The maximum joint tip speeds that can be achieved by the robot are listed in Table 9-1 on
page 83. Any tooling, fixtures, end-effectors, etc., mounted to the user flange, or one of the
other axes of the robot must be attached by sufficient means to resist being expelled from
the robot. Additionally, any payload must be held by the end-effector in a manner that
prevents the payload from being expelled accidentally.
The safety fence or barrier constructed around the robot must be designed to withstand
the impact of any item expelled accidentally from the robot. Projectile energy can be
calculated using the formula E = 1--- mv2.
2
NOTE: In the Projectile energy formula above:
•E = Energy
•M = Mass
•V = Velocity
Additional Safety Information
The standards and regulations listed in this handbook contain additional guidelines for
robot system installation, safeguarding, maintenance, testing, start-up, and operator
training. Table 2-1 on page 16 lists some sources for the various standards.
AdeptViper s650/s850 Robot User’s Guide, Rev A
15
Chapter 2 - Safety
Table 2-1. Sources for International Standards and Directives
SEMI International Standards
3081 Zanker Road
San Jose, CA 95134
USA
American National Standards Institute (ANSI)
11 West 42nd Street, 13th Floor
New York, NY 10036
USA
Phone: 1.408.943.6900
Fax: 1.408.428.9600
Phone 212-642-4900
Fax 212-398-0023
http://wps2a.semi.org/wps/portal/_pagr/118/_p
a.118/200
http://www.ansi.org
BSI Group (British Standards)
389 Chiswick High Road
London W4 4AL
United Kingdom
Document Center, Inc.
1504 Industrial Way, Unit 9
Belmont, CA 94002
USA
Phone +44 (0)20 8996 9000
Fax +44 (0)20 8996 7400
Phone 415-591-7600
Fax 415-591-7617
http://www.bsi-global.com
http://www.document-center.com
DIN, Deutsches Institut für Normung e.V.
German Institute for Standardization
Burggrafenstrasse 6
10787 Berlin
Germany
Global Engineering Documents
15 Inverness Way East
Englewood, CO 80112
USA
Phone.: +49 30 2601-0
Fax: +49 30 2601-1231
Phone 800-854-7179
Fax 303-397-2740
http://global.ihs.com
http://www.din.de
http://www2.beuth.de/ (publishing)
16
IEC, International Electrotechnical Commission
Rue de Varembe 3
PO Box 131
CH-1211 Geneva 20
Switzerland
Robotic Industries Association (RIA)
900 Victors Way
PO Box 3724
Ann Arbor, MI 48106
USA
Phone 41 22 919-0211
Fax 41 22 919-0300
Phone 313-994-6088
Fax 313-994-3338
http://www.iec.ch
http://www.robotics.org
AdeptViper s650/s850 Robot User’s Guide, Rev A
Risk Assessment
2.3
Risk Assessment
Without special safeguards in its control system, the AdeptViper robot could inflict
serious injury on an operator working within its work envelope. Safety standards in
several countries require appropriate safety equipment to be installed as part of the
system. Table 2-2 lists some of the safety standards that affect industrial robots. It is not a
complete list. Safeguards must comply with all applicable local and national standards for
the location where the robot is installed.
Table 2-2. Partial List of Robot and Machinery Safety Standards
International
USA
Canada
ISO 10218
Europe
EN 775
ANSI/RIA
R15.06
CAN/CSAZ434-94
Title of Standard
Manipulating Industrial Robots Safety
Industrial Robots and Robot
Systems - Safety Requirements
EN 292-2
Safety of Machinery - Basic
Concepts, General Principles for
Design
EN 954-1
Safety Related Parts of Control
Systems - General Principles for
Design
EN 1050
Safety of Machinery - Risk
Assessment
Adept has performed a Risk Assessment for this product, based on the intended
applications of the robot. The conclusions are summarized below.
Exposure
When arm power is on, all personnel must be kept out of the robot work envelope by
interlocked perimeter barriers. The only permitted exception is for teaching the robot in
Manual Mode by a skilled programmer (see “Qualification of Personnel” on page 22),
who must wear safety equipment (see “Safety Equipment for Operators” on page 22)
and carry the pendant (T1 or MCP). Therefore, exposure of personnel to hazards related to
the robot is limited (seldom and/or short exposure time).
Severity of Injury
Provided that skilled personnel who enter the robot work envelope are wearing protective
headgear, eyeglasses, and safety shoes, it is likely that any injuries caused by the robot
would be slight (normally reversible).
AdeptViper s650/s850 Robot User’s Guide, Rev A
17
Chapter 2 - Safety
Avoidance
Due to its light payload capacity, it is likely that such personnel could avoid being hit by
the robot even in a high-acceleration, runaway, failure condition. However, the
programmer must always carry the pendant when inside the work envelope, as the
pendant provides both E-Stop and Enabling switch functions.
For normal operation (AUTO mode), user-supplied interlocked guarding must be installed
to prevent any person entering the workcell while Arm Power is on.
DANGER: The Adept-supplied system components
provide a Category 1 control system as defined by EN 954.
The robot system must be installed with user-supplied
interlock barriers. The interlocked barrier should interrupt
the DC and AC supplies to the control system in the event
of personnel attempting to enter the workcell when Arm
Power is enabled, except for teaching in Manual Mode.
Failure to install suitable guarding could result in injury or
death.
The Risk Assessment for teaching this product depends on the application. In many
applications, the programmer will need to enter the robot workcell while Arm Power is
enabled to teach the robot. Other applications can be designed so that the programmer
does not have to enter the work envelope while Arm Power is on. Examples of alternative
methods of programming include:
1. Programming from outside the safety barrier.
2. Programming with Arm Power off.
3. Copying program from another (master) robot.
4. Off-line or CAD programming.
Control System Behavior Category
The following paragraphs relate to the requirements of European (EU/EEA) directives for
Machinery, Electric Safety, and Electromagnetic Compatibility (EMC).
In situations with low exposure consideration factors, European Standard EN 1050
specifies use of a Category 1 Control System per EN 954. EN 954 defines a Category 1
Control System as one that employs Category B components designed to withstand
environmental influences, such as voltage, current, temperature, EMI, and well-tried
safety principles. The standard control system described in this handbook employs
hardware components in its safety system that meet or exceed the requirements of the EU
Machinery Directive and Low Voltage Directive.
The standard control system is fully hardened to all EMI influences per the EU EMC
Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots
Safety. In addition, a software-based reduced speed mode has been incorporated to limit
speed and impact forces on the Operator and production tooling when the robot is
operated in Manual Mode.
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AdeptViper s650/s850 Robot User’s Guide, Rev A
Intended Use of the Robots
The standard control system meets or exceeds the requirements imposed by the EN 954
specified Category 1 level of safety.
2.4
Intended Use of the Robots
The installation and use of Adept products must comply with all safety instructions and
warnings in this manual. Installation and use must also comply with all applicable local
and national requirements and safety standards (see Section 2.7 on page 21).
The AdeptViper robots are intended for use in parts assembly and material handling for
payloads less than 5 kg. See Chapter 5 for complete information tooling and payloads.
CAUTION: For safety reasons, it is prohibited to make
certain modifications to Adept robots (see Section 2.5).
The Adept controller is a component subassembly of a complete industrial automation
system. The controller subassembly must be installed inside a suitable enclosure. The
controller subassembly must not come into contact with liquids. Additionally, the robot
must not come into contact with liquids.
The Adept equipment is not intended for use in any of the following situations:
• In hazardous (explosive) atmospheres
• In mobile, portable, marine, or aircraft systems
• In life-support systems
• In residential installations
• In situations where the Adept equipment will be subject to extremes of heat or
humidity.
CAUTION: The instructions for operation, installation, and
maintenance given in this manual must be strictly
observed.
Non-intended use of an AdeptViper robot can:
• Cause injury to personnel
• Damage the robot or other equipment
• Reduce system reliability and performance
AdeptViper s650/s850 Robot User’s Guide, Rev A
19
Chapter 2 - Safety
All persons that install, commission, operate, or maintain the robot must:
• Have the necessary qualifications
• Read and follow the instructions in this Instruction Handbook exactly
If there is any doubt concerning the application, ask Adept to determine if it is an
intended use or not.
2.5
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 do not cause problems, but may affect robot
performance:
• Attaching tooling, utility boxes, solenoid packs, vacuum pumps, cameras, lighting,
etc., to the robot tool mount flange.
• 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. The warranty of the entire robot or certain parts
may be voided.
CAUTION: Making any of the modifications outlined
below voids 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:
• Modifying any of the robot harnesses or robot-to-controller cables.
• Modifying any robot access covers or drive system components.
• Modifying, including drilling or cutting, any robot surface.
• Modifying any robot electrical component or printed-circuit board.
• Routing additional hoses, air lines, or wires through the inside of the robot.
• Modifications that compromise EMC performance, including shielding.
20
AdeptViper s650/s850 Robot User’s Guide, Rev A
Transport
2.6
Transport
Always use adequate equipment to transport and lift Adept products. See Chapter 3 for
more information on transporting, lifting, and installing.
2.7
Safety Requirements for Additional Equipment
Additional equipment used with the AdeptViper robots (grippers, conveyor belts, etc.)
must not reduce the workcell safeguards.
Emergency stop switches must be accessible at all times.
If the robot is to be used in an EU or EEA member country, all components in the robot
workcell must comply with the safety requirements in the European Machine Directive
89/392/EEC (and subsequent amendments) and related harmonized European,
international, and national standards. For robot systems, these include: EN 775/ISO
10218, sections 5,6; EN 292-2; and EN 60204. For safety fences, see EN 294.
In other countries, Adept strongly recommends, that a similar level of safety be obtained
as well as complying with the applicable local and national regulations, including
SEMI-S2.
In the USA, applicable standards include ANSI/RIA R15.06 and ANSI/UL 1740.
In Canada, applicable standards include CAN/CSA Z434.
2.8
Working Areas
Adept robots have a Manual and an Automatic (AUTO) operating mode. While in
Automatic Mode, personnel are not allowed in the workcell.
In Manual Mode, operators with additional safety equipment (see Section 2.10 on page
22) are allowed to work in the robot workcell. For safety reasons the operator should,
whenever possible, stay outside of the robot work envelope to prevent injury. The
maximum speed and power of the robot is reduced, but it could still cause injury to the
operator.
Before performing maintenance in the working envelope of the robot, High Power must
be switched off and the power supply of the robot must be disconnected. After these
precautions, a skilled person is allowed to perform maintenance on the robot. See
Section 2.9 for the specifications.
CAUTION: Never remove any safeguarding and never
make changes in the system that will decommission a
physical safeguard.
AdeptViper s650/s850 Robot User’s Guide, Rev A
21
Chapter 2 - Safety
2.9
Qualification of Personnel
This manual assumes that all personnel have attended an Adept training course and have
a working knowledge of the system. The user must provide the necessary additional
training for all personnel who will be working with the system.
As noted in this handbook, certain procedures should be performed only by skilled or
instructed persons. For a description of the level of qualification, Adept uses the standard
terms:
• Skilled persons have technical knowledge or sufficient experience to enable them
to avoid the dangers, electrical and/or mechanical.
• Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers, electrical and/or mechanical.
All personnel must observe industry-prescribed safety practices during the installation,
operation, and testing of all electrically powered equipment. To avoid injury or damage to
equipment, always remove power by disconnecting the AC power from the source before
attempting any repair or upgrade activity. Use appropriate lockout procedures to reduce
the risk of power being restored by another person while you are working on the system.
WARNING: The user must get confirmation from every
entrusted person before they start working with the robot
that the person:
1. Has received the manual
2. Has read the manual
3. Understands the manual
4. Will work in the manner specified by the manual.
2.10 Safety Equipment for Operators
Operators must wear safety equipment in the workcell. For safety reasons, operators must
wear the following when they are in the robot workcell.
• Safety glasses
• Protective headgear (hard hats)
• Safety shoes
Warning signs should be posted around the workcell to ensure that anyone working
around the robot system knows they must wear safety equipment.
22
AdeptViper s650/s850 Robot User’s Guide, Rev A
Protection Against Unauthorized Operation
2.11 Protection Against Unauthorized Operation
The system must be protected against unauthorized use. The user or operator must
restrict access to the keyboard and the pendant by locking them in a cabinet or use
another adequate method to prevent access to them.
2.12 Safety Aspects While Performing Maintenance
Only skilled persons with the necessary knowledge about the safety and operating the
equipment are allowed to maintain the robot, controller, and power chassis.
CAUTION: During maintenance and repair, the power of
the Adept controller must be turned off. Lockout measures
must be used to prevent unauthorized personnel from
turning on power.
2.13 Risks That Cannot Be Avoided
The Adept control system includes devices that disable High Power if a system failure
occurs. However, certain residual risks or improper situations could cause hazards. The
following situations may result in risks that cannot be avoided:
• Failure of software or electronics that may cause high-speed robot motion in
Manual Mode
• Failure of hardware associated with enabling device or E-Stop system
2.14 Risks Due to Incorrect Installation or Operation
Take precautions to ensure that the following situations do not occur:
• Purposely defeating any aspect of the safety E-Stop system
• Improper installation or programming of the robot system
• Unauthorized use of cables other than those supplied or use of modified
components in the system
• Defeating interlock so that operator can enter workcell with High Power ON
• Ejection of work piece (see “Hazards From Expelling a Part or Attached Tooling”
on page 15).
AdeptViper s650/s850 Robot User’s Guide, Rev A
23
Chapter 2 - Safety
2.15 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then
follow the internal procedures of your company or organization for an emergency
situation. If a fire occurs, use CO2 to extinguish the fire.
24
AdeptViper s650/s850 Robot User’s Guide, Rev A
Robot Installation
3.1
3
Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. Pay special
attention to tilt and shock indication labels on the exteriors of the containers, if installed. If
any damage is indicated, request that the carrier’s agent be present at the time the
container is unpacked.
Upon Unpacking
Before signing the carrier’s delivery sheet, please compare the actual items received (not
just the packing slip) with your equipment purchase order and verify that all items are
present and that the shipment is correct and free of visible damage.
If the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.
If the items received do not match your order, please contact Adept immediately.
Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact Adept (see Section 1.4 on page 12).
Retain all containers and packaging materials. These items may be necessary to settle
claims or, at a later date, to relocate equipment.
AdeptViper s650/s850 Robot User’s Guide, Rev A
25
Chapter 3 - Robot Installation
3.2
Environmental and Facility Requirements
The Adept robot system installation must meet the operating environment requirements
shown in Table 3-1.
Table 3-1. Robot System Operating Environment Requirements
Item
Condition
Flatness of the mounting
surface
0.1/500 mm
Installation type
Floor-mount or Overhead-mount
Ambient temperature
During operation: 0 to 40°C
During storage and transportation: -10 to 60°C
Humidity
During operation: 90% or less (No dew condensation allowed.)
During storage and transportation: 75% or less (No dew
condensation allowed.)
Vibration
During operation: 4.9 m/s2 (0.5G) or less
During storage and transportation: 29.4 m/s2 (3G) or less
Safe Installation
Environment
The robot should not be installed in an environment where:
• there are flammable gases or liquids,
• there are any acidic, alkaline or other corrosive gases,
• there is sulfuric or other types of cutting or grinding oil
mist, or
• there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise.
• there are any shavings from metal processing or other
conductive material flying about,
• it may be directly exposed to water, oil, or cutting chips.
Working space, etc.
• Sufficient service space must be available for inspection and
disassembly.
• Keep wiring space (230 mm or more) behind the robot, and
fasten the wiring to the mounting face or beam so that the
weight of the cables will not be directly applied to the
connectors.
Installation conditions
26
Grounding resistance: 100 milliohms or less
See Figure 3-3 on page 31.
AdeptViper s650/s850 Robot User’s Guide, Rev A
Transporting the Robot
3.3
Transporting the Robot
Precautions in Transporting Robot
• The robot weighs approximately 30 kg. Use a crane suitable for the robot weight.
• Have at least two workers handle this job.
• Workers should wear helmets, safety shoes, and gloves during transport.
• Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-axis cover, or
3rd-axis cover, or apply force to any of them. See Figure 1-1 on page 9.
CAUTION: Pass the hoisting wires through the specified
eyebolts as illustrated below. Passing them through other
sections may drop the robot unit, resulting in injuries to
personnel or damage to the robot.
Wire
(Belt sling)
Waste Cloth
Eyebolts
Robot Mounting
Bolts
Figure 3-1. Robot in Hoisting Sling
AdeptViper s650/s850 Robot User’s Guide, Rev A
27
Chapter 3 - Robot Installation
Transport Procedure
Step
Procedure
Drawing
1
Before transportation, set the robot in
a transport position as shown at right
by manually moving the second, third
and fourth axes.
When unpacked first, the robot is in
the transport position, so this job is
not required.
Transport Position
2
Axis
Angle
First axis (J1)
0°
Second axis (J2)
-145°
Third axis (J3)
+243°
Fourth axis (J4)
-90°
Fifth axis (J5)
-90°
Disconnect the robot control cable, air
piping and user signal cables from the
robot unit.
When the robot unit is first unpacked,
this job is not required.
3
As shown at right, mount the
eyebolts.
When delivered, the robot unit is
packed with eyebolts attached, so this
job is not required
Eyebolts
28
AdeptViper s650/s850 Robot User’s Guide, Rev A
Transporting the Robot
Step
Procedure
Drawing
4
As shown at right, place a waste cloth
on the second arm and pass the wire
through the two eyebolts.
Wire
(Belt sling)
Note: Before transporting the robot,
check that the path to the target
position is free of obstacles.
Waste Cloth
Eyebolts
Robot Mounting
Bolts
5
Worker A: Remove the four bolts
while supporting the robot unit to
prevent it from getting overturned.
6
Worker B: Operate the crane and
move the robot unit to the target site.
7
Worker B: Put the robot unit down in
the target position.
Worker A: Temporarily secure the
robot unit with four bolts.
8
Secure the robot unit according to the
instructions in Section 3.4 on page 30.
9
Remove the eyebolts from the robot
unit.
Caution: Before running the robot unit, be
sure to remove the eyebolts. Otherwise, the
robot arm will strike against those eyebolts.
AdeptViper s650/s850 Robot User’s Guide, Rev A
29
Chapter 3 - Robot Installation
3.4
Mounting the Robot
200
160
+0.012
2X Ø6 - 0
66 ±0.05
142.3
200
160
184 ±0.05
R20
4X Ø12 THRU
For M10
Diamond-shaped pin
Figure 3-2. Mounting Hole Pattern for Robot
1. See Figure 3-2 for the dimensions of the mounting holes in the robot mounting
position where the robot unit is to be secured.
• Drill four bolt holes (M10), 20 mm deep or more
• Drill a dowel pin hole Ø4, H7 for diamond shaped pin, 10-mm deep or more
• Drill a dowel pin hole Ø6, H7 for internally threaded positioning pin, 10-mm
deep or more
2. Locate two alignment pins, one round and one diamond-shaped, supplied in the
accessory kit.
3. Drive the diamond-shaped pin into the Ø4, H7 hole so that it orients as shown in
Figure 3-2.
4. Drive the internally threaded alignment pin into the Ø6, H7 hole.
NOTE: Be sure to drive the alignment pins. It can minimize positional
deviations that may be caused by the removal/installation of the robot
unit for maintenance or the vibration during operation.
30
AdeptViper s650/s850 Robot User’s Guide, Rev A
Grounding the Robot
5. Set the robot unit into place on the robot mount. When transporting the robot
unit, follow the instructions given in Section 3.3 on page 27.
6. Secure the robot unit to the mount with four bolts and plain washers.
• Bolt: M10 x 30 mm (strength class: 12.9)
• Tightening torque: 70 +/- 14 Nm
3.5
Grounding the Robot
Ground the grounding terminal of the robot unit with a wire of 12 AWG or more. Ground
resistance must be less than 100 milliohms.
NOTE: Use a dedicated grounding wire and grounding electrode. Do not
share them with any other electric power or power equipment such as a
welder.
WARNING: Wiring must be performed by authorized or
certified personnel. Failure to observe this caution may
result in fire or electric shock.
CN22
AIR1
AIR2
CN20
Grounding terminal (M5)
12 AWG or more
Figure 3-3. Ground Point on Robot
AdeptViper s650/s850 Robot User’s Guide, Rev A
31
Chapter 3 - Robot Installation
3.6
Description of Connectors on Robot Interface Panel
CN22 Power/Signal Cable - to PA-4
C N 22
AIR 1
AIR 1
AIR 2
AIR 2
CN20
CN20
Grounding terminal (M5)
Figure 3-4. Robot Interface Panel
CN22 - the Arm Power/Signal cable from the PA-4 is installed at this connector.
CN20 - Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the upper
arm. Pins 12 to 18 are for solenoid control. See Section 3.7 on page 33.
AIR 1 - air piping connector (PT1/4) for three solenoids in robot. See Section 3.7 on
page 33.
AIR 2 - air piping connector (PT1/4), connects directly to AIR 2 on the second (upper)
arm.
Grounding Terminal - ground point on robot, see Section 3.5 on page 31.
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AdeptViper s650/s850 Robot User’s Guide, Rev A
Air Lines and Signal Wiring
3.7
Air Lines and Signal Wiring
The robot is equipped with 7 air pipes, or lines. Six lines, from AIR1 input, are controlled
by the 3 internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2
on the second arm. There are 10 user electric lines. The air lines and signal wiring are
shown below.
Valve Symbols and Air Intake/Exhaust States
(1A and 1B are piping joint symbols.)
Air piping joint
Air
intake
AIR1
Valve signal
Solenoid
A
B
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
Solenoid
Exhaust
valve
1A
1B
2A
2B
3A
3B
AIR2
1B
1A
2B
2A
3B
3A
1
1
2
2
3
3
CN20 Pin Assignment
For controller I/O unit, NPN type (source IN, sink
OUT)
CN20 pin No.
Used for:
12
+24V
13
Solenoid 1A (solenoid valve 1)
14
Solenoid 1B (solenoid valve 1)
15
Solenoid 2A (solenoid valve 2)
16
Solenoid 2B (solenoid valve 2)
17
Solenoid 3A (solenoid valve 3)
18
Solenoid 3B (solenoid valve 3)
For controller I/O unit, PNP type (sink IN, source
OUT)
CN20 pin No.
Used for:
12
0V
13
Solenoid 1A (solenoid valve 1)
14
Solenoid 1B (solenoid valve 1)
15
Solenoid 2A (solenoid valve 2)
16
Solenoid 2B (solenoid valve 2)
17
Solenoid 3A (solenoid valve 3)
18
Solenoid 3B (solenoid valve 3)
Note 1: Pins #1 to #10 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A.
Note 2: Use the attached connector sets for CN20 and CN21.
Connector set part No.
Connector
#
Part No.
Model and part name
410887-0170
(for CN20)
SRCN6A25-24S
(round type connector)
Japan Aviation Electronics Industry Ltd.
410877-0180
(for CN21)
JMLP1610M
(L type plug connector)
DDK Electronics, Inc.
For CN20
05019-000
410889-0030
For CN21
AdeptViper s650/s850 Robot User’s Guide, Rev A
Appearance
33
Chapter 3 - Robot Installation
Table 3-2. Solenoid Valve Specifications
Solenoid
Valve
Item
Specifications
Switching system
2-position double
Applicable fluid
Air
Operating system
Pilot type
Effective cross section
(Cv value)
1.2 mm2
Lubrication
Oilless
Operating pressure range
0.1 to 0.7 Mpa
Response time
15 ms or less (at 0.5 Mpa)
Maximum operating frequency
10 Hz
Ambient temperature
-5 to 50°C
(No dew condensation allowed.
When dry air is used)
Operating voltage
24 V ±10%
Power consumption (current)
0.5 W (21 mA)
Surge voltage protection circuit
Zener diode
2-M4, 16 DEEP
36
35
2-M3, 7 DEEP
104.5(VS-6556E)
100 (VS-6577E)
2-M5, 12 DEEP
2-M8, 25 DEEP
(Unit:mm)
30
Figure 3-5. External Mounting Holes on Robot
34
AdeptViper s650/s850 Robot User’s Guide, Rev A
Designing End-Effectors
3.8
Designing End-Effectors
Design an end-effector such that it is in compliance with items described in this section.
CAUTION: If the end-effector design precautions are not
observed, the clamped parts of the robot unit may become
loose, rattle or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot. The total mass includes
the wiring, piping, etc.
Maximum total mass of end-effector (including workpiece) must be less than or equal to
maximum payload capacity (5 kg).
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity position of the end-effector (including
workpiece) is within the range shown in Figure 3-6.
80
80
150
CN21
3A
2A
1A
3B
2B
1B
AIR2
Figure 3-6. Allowable Range of Center of Gravity Position of End-effector
AdeptViper s650/s850 Robot User’s Guide, Rev A
35
Chapter 3 - Robot Installation
Moment of Inertia Around J4, J5 and J6
Design an end-effector so that its moments of inertia around J4, J5, and J6 (including
workpiece) do not exceed the maximum allowable moment of inertia of the robot.
Moment of inertia around J4, J5, and J6 of end-effector (including mass of workpiece)
must be less than or equal to the maximum allowable moment of inertia
Maximum allowable moment of inertia around J4 and J5: 0.295 kgm2
Maximum allowable moment of inertia around J6: 0.045 kgm2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the
formulas given in Table 3-3, and see examples in Figure 3-7 on page 37.
Table 3-3. Moment of Inertia Formulas
1. Cylinder (1)
4. Sphere
(Axis of rotation = Center axis)
2. Cylinder (2)
(Axis of rotation = Center axis)
5. Center of gravity not on the axis of rotation
(The axis of rotation passes through the center of gravity.)
: Inertia moment around center of gravity
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.)
36
l:
m:
r:
b, c, :
Moment of inertia
Mass
Radius
Length
AdeptViper s650/s850 Robot User’s Guide, Rev A
2
kgm 
kg
m
m
Designing End-Effectors
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into
simple parts as much as possible for easier calculations.
As shown in the figure below, divide the end-effector into three parts (Q, R, S).
(1) Moment of inertia around J6
Q
Robot flange
center
Moment of inertia around J6 of Q: I1 (from 3 and 5 in Table 2-3)
Center of
gravity of Q
Moment of inertia around J6 of R: I2 (from 1 and 5 in Table 2-3)
φ40
φ20
R
Moment of inertia around J6 of S: I3 (from 1 and 5 in Table 2-3)
Around J6
Around J6
Center of
gravity of R
S
Center of
gravity of S
φ40
Moment of inertia around J6 of entire end-effector: IJ6
Unit: mm
(2) Moment of inertia around J4 and J5
For the end-effector shown below, the moment of
inertia around J4 and J5 can be calculated according
to the same formula.
Moment of inertia around J4 and J5 of Q: I1 (from 3 and 5 in Table 2-3)
((0.08 + 0.005)2+0.01)
1.03 × 10-3 [kgm2]
Moment of inertia around J4 and J5 of R: I2 (from 2 and 5 in Table 2-3)
((0.08 + 0.01 + 0.02)2+0.042)
80
1.39 × 10-3 [kgm2]
Moment of inertia around J4 and J5 of S: I3 (from 2 and 5 in Table 2-3)
((0.08 + 0.01 + 0.05)2+0.052)
80
2.30 × 10-3 [kgm2]
Moment of inertia around J4 and J5 of entire end-effector: IJ4, IJ5
2.54×10-2 [kgm2]
Figure 3-7. Moment of Inertia Calculation Examples
AdeptViper s650/s850 Robot User’s Guide, Rev A
37
Chapter 3 - Robot Installation
38
AdeptViper s650/s850 Robot User’s Guide, Rev A
System Installation
4.1
4
System Cable Diagram
IEEE 1394 Cable
J Amp #1
J Amp #2
J Amp #3
sDAI Module
User-Supplied Ground Wire
Between PA-4 and SmartController
J AMP
J AMP
J AMP
s DAI
CAUTION
HIGH
VOLTAGE
INSIDE
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
HIGH VOLTS ON
PWM ON
PWM ON
PWM ON
LOW VOLTS ON
LOW VOLTS ON
LOW VOLTS ON
OPEN CKT FAULT
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
CH1 CH2
Adept
SmartController CX
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
B
R
A
K
E
STATUS
1
R
S
2
3
2
SmartServo
SHORT FAULT
CH1 CH2
2
CH1 CH2
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
C
O
N
T
R
O
L
C
O
N
T
R
O
L
E
X
P
I
O
XSYS cable
X
S
L
V
*S/N 3562-XXXXX*
SmartServo
OK
HPE
LAN
SF
ES
HD
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
2.2
BELT ENCODER
ON
OFF
1
2
3
XDIO
XSYS
XUSR
XFP
XMCP
XDC1 XDC2
24V
5A
-+
-+
C
N
P
G
4
5
6
C
N
P
G
1
2
3
SmartController CX
CAMERA
R
CH1
Terminator
Installed
CH2
CH1
CH2
CH1
M
O
T
O
R
M
O
T
O
R
M
O
T
O
R
P
O
W
E
R
P
O
W
E
R
P
O
W
E
R
O
U
T
P
U
T
O
U
T
P
U
T
O
U
T
P
U
T
CH2
C
N
2
5
C
N
2
9
External Brake
Connector
adept
technology, inc.
User-Supplied Ground Wire
Ethernet to PC
Controller (XFP) to
Front Panel (XFP)
STOP
24VDC Power from
User-Supplied
Power Supply to
Controller (XDC1)
Adept PA-4
Power Chassis
Arm Power/
Signal Cable
R
User-Supplied
Power Supply
Front Panel
CN22
AIR1
T1 Pendant
(optional)
AIR2
CN20
Desktop or Laptop PC
(user-supplied)
AdeptViper s650
Robot
User-Supplied
Ground Wire
Grounding
Terminal (M5)
Figure 4-1. System Cable Diagram for AdeptViper s650 Robot
AdeptViper s650/s850 Robot User’s Guide, Rev A
39
Chapter 4 - System Installation
4.2
Installing the SmartController
Refer to the Adept SmartController User’s Guide for complete information on installing
the Adept SmartController. This list summarizes the main steps.
1. Mount the SmartController and Front Panel.
2. Connect the Front Panel to the SmartController.
3. Connect the optional pendant to the SmartController, if included.
4. Connect user-supplied 24 VDC power to the controller.
5. Install a user-supplied ground wire between the SmartController and ground.
6. Install the AdeptWindows PC software on the user-supplied PC. Refer to the
AdeptWindows Installation Guide. This includes connecting the supplied
Ethernet crossover cable between the user-supplied PC and the Ethernet port on
the SmartContoller.
4.3
Installing the PA-4 Power Chassis
Refer to the Adept PA-4 Power Chassis User’s Guide for complete information on the
PA-4 chassis. This list summarizes the main steps.
1. Mount the PA-4 chassis.
NOTE: For the PA-4 in an AdeptViper system, only the panel-mounting
option is available.
2. Locate these cables, typically shipped in the cable/accessories box.
• IEEE 1394 cable (length 4.5M)
• XSYS cable (length 4.5M)
• Arm Power/Signal cable (length 4 M)
3. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on
the SmartController, and install the other end into the SmartServo port 1
connector on the sDAI module in the PA-4. See Figure 4-1 on page 39 and Figure
4-2 on page 41.
4. Install the XSYS cable between the XSYS connector on the SmartController, and
the XSLV connector on the sDAI module, and tighten the latching screws.
5. Install the Arm Power/Signal cable between the CN22 connector on the robot and
the Arm Power/Signal connector on the PA-4.
6. Install a ground wire between the PA-4 and the SmartController.
40
AdeptViper s650/s850 Robot User’s Guide, Rev A
Installing the PA-4 Power Chassis
J-Amp #1
J-Amp #2
J-Amp #3
sDAI Module
J-AMP
J-AMP
J-AMP
s DAI
Brake Release
CAUTION
HIGH
VOLTAGE
INSIDE
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
HIGH VOLTS ON
PWM ON
PWM ON
PWM ON
LOW VOLTS ON
LOW VOLTS ON
OPEN CKT FAULT
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
1
R
S
2
3
2
SmartServo
SHORT FAULT
CH1 CH2
2
CH1 CH2
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
C
O
N
T
R
O
L
C
O
N
T
R
O
L
E
X
P
I
O
X
S
L
V
Interface Box
CH2
CH1
CH2
CH1
M
O
T
O
R
M
O
T
O
R
M
O
T
O
R
P
O
W
E
R
P
O
W
E
R
P
O
W
E
R
O
U
T
P
U
T
O
U
T
P
U
T
O
U
T
P
U
T
RS-232
SmartServo 1 & 2
EXPIO
XSLV
C
N
P
G
4
5
6
C
N
P
G
1
2
3
CH1
Arm Power/Signal
Connector
Status Panel
STATUS
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
CH1 CH2
Latching Screws
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
B
R
A
K
E
CH2
C
N
2
5
C
N
2
9
External Brake
Connector
adept
technology, inc.
Figure 4-2. Adept PA-4 Power Chassis with sDAI Module
AdeptViper s650/s850 Robot User’s Guide, Rev A
41
Chapter 4 - System Installation
4.4
Connecting 3-Phase AC Power to PA-4
PA-4 3-Phase Power Requirements
Table 4-1. Adept PA-4 Power Chassis 3-Phase Power Requirements
Minimum
Operating
Voltage
Maximum
Operating
Voltage
Recommended
External
Circuit Breaker
(user-supplied)
50-60Hz,
3-phase
180 VAC
245 VAC
20 amps
50-60Hz,
3-phase with
neutral
342 VAC
424 VAC
20 amps
Nominal
Voltage
Range
Frequency/
Phasing
200 to 240
VAC
380 to 415
VAC
Table 4-2. Typical Robot Power Consumptiona
Robot
AdeptViper s650
Move
Average Power
(W)
Peak Power
(W)b
No load - Adept cyclec
371
947
5.0 kg - Adept cyclec
477
1526
5.0 kg - all joints move
834
2088
a
Typical power data is with 220VAC, 60Hz, 3-phase nominal input.
For short durations (100 ms)
c Adept cycle: the robot tool performs continuous path, straight-line motions 25 mm up, 305 mm
over, 25 mm down, and back along the same path. COARSE is enabled and BREAKs are used
at each end location. Not achievable over all paths.
b
The Adept PA-4 power chassis can be shipped from the factory configured for either
3-phase 200-240 VAC or 380-415 VAC operation, depending on your sales order. For
1-phase AC, see Section 4.5 on page 45.
A voltage setting label is located on the front of the chassis below the circuit breaker. The
voltage setting is also shown on the ID label on the side of the chassis. Verify that the
setting matches your facility power before installation.
If you need to change the AC voltage setting from 200-240 VAC to 380-415 VAC, or vice
versa, see the Adept PA-4 Power Chassis User’s Guide.
WARNING: Verify the voltage settings are correct before
turning on power. Operating the Adept PA-4 power
chassis with incorrect voltage settings can cause damage
or injury.
42
AdeptViper s650/s850 Robot User’s Guide, Rev A
Connecting 3-Phase AC Power to PA-4
Connecting the PA-4 3-Phase AC Power Cord to AC Supply
The user end of the cord is unterminated. Connect each conductor of the power cord
securely to your AC power source, using the color code shown in Table 4-3. The
installation must meet all applicable European, international, and national standards and
regulations.
Table 4-3. 3-Phase AC Power Cord Specifications for PA-4
Cord length
3 meters ±0.1 m (9 ft 10 in ±4 in)
Cord rating
25 amps
Number and size of
conductor size
5 x 2.5 mm2
Color code: 200 - 240 VAC
line 1
line 2
line 3
no connection
ground
black
black (or gray)a
brown
blue (must be insulated)
green/yellow
Color code: 380 - 415 VAC
line 1
line 2
line 3
neutral
ground
a
black
black (or gray)a
brown
blue
green/yellow
Note: The two black wires can also be one black and one gray wire, but the
functionality is the same for either case.
DANGER: Electrical hazard!
The installation of the power cord must be done by a
skilled person. The power supply can injure or kill the
person who installs the cord. An incorrect installation can
injure or kill anyone that touches the equipment in the
robot workcell.
The protective ground conductor (colored green/yellow) of the Adept PA-4 power chassis
is internally connected to the accessible metal parts of the power chassis. To ensure
electrical-shock protection, the ground conductor must be connected to a properly
grounded power source.
WARNING: Ensure that a proper protective ground
connection exists before turning on the power.
AdeptViper s650/s850 Robot User’s Guide, Rev A
43
Chapter 4 - System Installation
Typical 3-Phase AC Power Installation Diagrams
L1
3Ø
200–240V~
20A
L2
L3
PE
PE
L3
L2
L1
Adept PA-4
3Ø 200–240V~
Figure 4-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System
L1
3Ø
380–415V~
20A
L2
L3
N
PE
PE
N
L3
L2
L1
Adept PA-4
3Ø 380–415V~
Figure 4-4. Typical 3-Phase 380-415 VAC Connection for PA-4 System
44
AdeptViper s650/s850 Robot User’s Guide, Rev A
Connecting 1-Phase AC Power to PA-4
4.5
Connecting 1-Phase AC Power to PA-4
PA-4 1-Phase AC Power Requirements
The PA-4 can be shipped from the factory configured for 200-240 VAC single phase
operation. A voltage setting label is located on the front of the chassis below the circuit
breaker. The voltage setting is also shown on the ID label on the side of the chassis. Verify
that the setting matches your facility power before installation.
NOTE: For 3-Phase AC power wiring information, see Section 4.4 on page
42.
Table 4-4. Adept PA-4 Power Chassis 1-Phase Power Requirements
Nominal
Voltage
Range
Frequency/
Phasing
Minimum
Operating
Voltage
Maximum
Operating
Voltage
Recommended
External
Circuit Breaker
(user-supplied)
200 to 240
VAC
50-60Hz,
1-phase
180 VAC
245 VAC
20 amps
Connecting the PA-4 1-Phase AC Power Cord to AC Supply
The user end of the cord is unterminated. Connect each conductor of the power cord
securely to your AC power source, using the color code shown in Table 4-5. See Figure 4-6
on page 47 for a typical power installation diagram. The installation must meet all
applicable European, international, and national standards and regulations.
Table 4-5. 1-Phase AC Power Cord Specifications for PA-4
Cord length
3 meters ±0.1 m (9 ft. 10 in. ±4 in.)
Cord rating
25 amps
Number and size of
conductor size
3 x 2.5 mm2
Color code: 200 - 240 VAC
line 1
line 2
ground
a
black
blacka
green/yellow
Note: The two black wires can also be one black and one gray wire, but
the functionality is the same for either case.
AdeptViper s650/s850 Robot User’s Guide, Rev A
45
Chapter 4 - System Installation
DANGER: The installation of the power cord must be done
by a skilled person. The power supply can injure or kill the
person who installs the cord. An incorrect installation can
injure or kill anyone that touches the equipment in the
robot workcell.
The protective ground conductor (colored green/yellow) of the chassis is internally
connected to the accessible metal parts of the power chassis. To ensure electrical-shock
protection, this must be connected to a properly grounded power source.
DANGER: Ensure that a proper protective ground
connection exists before turning on the power.
Power cord
from PA-4
19 mm (3/4 inch)
shrink tubing
Black wire
Black wire
Green/Yellow wire
Blue wire
7 mm (1/4 inch)
shrink tubing
Brown wire
Figure 4-5. 1-Phase AC Cable Wiring
46
AdeptViper s650/s850 Robot User’s Guide, Rev A
Connecting 1-Phase AC Power to PA-4
Typical Single Phase, 220 VAC Power Installation Diagrams
Facility
Supply
1Ø
200–240V~
20A
L1
L2
PE
PE
L2
L1
Adept PA-4
1Ø 200-240V~
Figure 4-6. Typical 1-Phase 200-240 VAC Connection
AdeptViper s650/s850 Robot User’s Guide, Rev A
47
Chapter 4 - System Installation
48
AdeptViper s650/s850 Robot User’s Guide, Rev A
System Operation
5.1
5
System Start-up Procedure
Verify that the robot is securely mounted, the system is correctly installed, and that all
safety equipment is working before going through the system start-up process. Once the
system installation has been verified, you are ready to start up the system.
1. Switch on AC power to the PA-4.
2. Switch on the 24VDC power to the controller.
3. Connect to the controller via AdeptWindows, and boot the system from the “D”
default drive. Refer to the AdeptWindows Installation Guide for complete details
on working with AdeptWindows.
4. Wait for the system to complete the boot cycle. Once completed the system will
return with a “dot” prompt, and the following window should be displayed.
Figure 5-1. Typical Start-up Screen
5. Disengage any E-Stops.
6. Make sure the Front Panel is set to Auto mode.
7. Type enable power.
ENA POW <enter>
Press the High Power button on the Front Panel while it is blinking. The system
will return to the dot prompt once high power is enabled.
8. Type calibrate.
CAL <enter>
AdeptViper s650/s850 Robot User’s Guide, Rev A
49
Chapter 5 - System Operation
9. Once the calibration is complete, the system will return with a “dot” (.) prompt,
and the status panel display on the sDAI module will read “OK.”
10. System is ready for operation.
5.2
Learning to Program the Robot
To learn how to use and program the robot, go to the V+ Operating System User’s Guide
to find information on basic operation of the V+ Operating System. Also refer to the
Instructions for Adept Utility Programs for information on using the Adept utility
programs.
For programming information you need to refer to the following list of optional manuals:
• V+ Language User’s Guide
• V+ Language Reference Guide
• V+ Operating System Reference Guide
50
AdeptViper s650/s850 Robot User’s Guide, Rev A
Connecting Digital I/O to the System
5.3
Connecting Digital I/O to the System
You can connect digital I/O to the system in several different ways. See Table 5-1 and
Figure 5-2.
Table 5-1. Digital I/O Connection Options
Product
I/O Capacity
For more details
XDIO Connector on
SmartController
12 inputs
8 outputs
see Adept SmartController
User’s Guide
Optional IO Blox Device,
connects to sDAI in PA-4
8 inputs, 8 outputs per device; up
to four IO Blox devices per robot
see Adept IO Blox User’s
Guide
Optional sDIO Module,
connects to controller
32 inputs, 32 outputs per module;
up to four sDIO per system
see Adept SmartController
User’s Guide
CN22
AIR1
AIR2
CN20
AdeptViper s650/s850
Robot
CN20 Connector
For input signals to control
internal robot solenoids
and general user I/O.
Signals can come from
IO Blox device or XDIO
on SmartController.
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064
J AMP
J AMP
s DAI
CAUTION
HIGH
VOLTAGE
INSIDE
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
HIGH VOLTS ON
HIGH VOLTS ON
PWM ON
PWM ON
PWM ON
LOW VOLTS ON
LOW VOLTS ON
LOW VOLTS ON
OPEN CKT FAULT
OPEN CKT FAULT
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
HV SAG/OVER TEMP FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
SHORT FAULT
CH1 CH2
B
R
A
K
E
R
S
2
3
2
SmartServo
SHORT FAULT
CH1 CH2
2
CH1 CH2
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
C
O
N
T
R
O
L
C
O
N
T
R
O
L
E
X
P
I
O
X
S
L
V
CH2
CH1
CH2
CH1
M
O
T
O
R
M
O
T
O
R
P
O
W
E
R
P
O
W
E
R
P
O
W
E
R
O
U
T
P
U
T
O
U
T
P
U
T
O
U
T
P
U
T
To EXPIO
on sDAI
Optional
sDIO #1
IEEE-1394
1.1
1.2
R
*S/N 3563-XXXXX*
X1
X3
X2
X4
XDC1 XDC2
LINK
24V
-+
OK SF
0.5A
-+
C
N
P
G
4
5
6
C
N
P
G
1
2
3
CH1
M
O
T
O
R
Optional
IO Blox Device
STATUS
1
CH2
*S/N 3562-XXXXX*
C
N
2
5
C
N
2
9
CAMERA
R
SmartController
SmartServo
OK
HPE
LAN
SF
ES
HD
1
2
3
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
2.2
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
BELT ENCODER
ON
OFF
XDIO
XUSR
XSYS
XFP
XMCP
adept
technology, inc.
XDC1 XDC2
24V
5A
-+
-+
SmartController CX
J AMP
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
SC-DIO
Adept PA-4
XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008
Figure 5-2. Connecting Digital I/O to the System
AdeptViper s650/s850 Robot User’s Guide, Rev A
51
Chapter 5 - System Operation
Table 5-2. Default Digital I/O Signal Configuration, Single Robot System
Location
Type
Signal Range
Controller XDIO connector
Inputs
1001 - 1012
Outputs
0001 - 0008
Inputs
1033 - 1064
Outputs
0033 - 0064
Inputs
1065 - 1096
Outputs
0065 - 0096
sDIO Module 3
(recommended a)
Inputs
1201 - 1232
Outputs
0201 - 0232
sDIO Module 4
(recommended a)
Inputs
1233 - 1264
Outputs
0233 - 0264
IO Blox 1
Inputs
1113 - 1120
Outputs
0105 - 0112
Inputs
1121 - 1128
Outputs
0113 - 0120
Inputs
1129 - 1136
Outputs
0121 - 0128
Inputs
1137 - 1144
Outputs
0129 - 0136
sDIO Module 1
sDIO Module 2
IO Blox 2
IO Blox 3
IO Blox 4
a
52
For sDIO modules 3 and 4, you must configure the signals using CONFIG_C,
to have the system support those modules. See the Adept SmartController
User’s Guide for additional information on that process.
AdeptViper s650/s850 Robot User’s Guide, Rev A
Installing Axis Labels
5.4
Installing Axis Labels
The system includes a set of axis directional labels that can be installed on the robot. See
Table 5-3. Also refer to Figure 1-1 on page 9 for a drawing of the axis identification. The
yellow X-Y label can be used to indicate the X and Y axes in the World coordinate system
in your workcell.
Table 5-3. Axis Directional Labels
Axis 2
Axis 1
Axis 4
Axis 6
Axis 5
Axis 3
AdeptViper s650/s850 Robot User’s Guide, Rev A
53
Chapter 5 - System Operation
5.5
Caution Label on Robot
The Caution label shown in Figure 5-3 refers to rotation of Joint 4. When power is turned
off, do not manually rotate Joint 4 more than the Joint Limits of ±190°. If Joint 4 is rotated
beyond these limits, the internal wiring can be damaged.
Figure 5-3. Caution Label on Joint 4 Rotation
NOTE: There is no CALSET operation on the AdeptViper robot, and there
is no Installation and Maintenance Guide.
54
AdeptViper s650/s850 Robot User’s Guide, Rev A
Status Panel Codes on sDAI Module
5.6
Status Panel Codes on sDAI Module
The status panel display on the sDAI module in the PA-4 displays alpha-numeric codes
that indicate the operating status of the robot, including detailed fault codes. See Table 5-4
for definitions of the status codes. These codes provide details for quickly isolating
problems during troubleshooting. See the Adept PA-4 Power Chassis User’s Guide for
additional information on the sDAI module.
Table 5-4. Status Panel Codes
LED
Status Code
LED
Status Code
OK
No Fault
H#
High Temp Encoder (Joint #)
ON
High Power ON Status
hV
High Voltage Bus Fault
MA
Manual Mode
I#
Initialization Stage (Step #)
24
24V Supply Fault
IO
24V I/O Fault
A#
Amp Fault (Joint #)
LV
Low Voltage (24V)
B#
IO Blox Fault (Address #)
M#
Motor Stalled (Joint #)
bF
Base Board Fault
NV
Non-Volatile Memory
AC
AC Power Fault
P#
Power System Fault (Code #)
D#
Duty Cycle Exceeded (Joint #)
PR
Processor Overloaded
E#
Encoder Fault (Joint #)
RC
RSC Fault
ES
E-Stop
S#
Safety System Fault (Code #)
FM
Firmware Mismatch
SW
Watchdog Timeout
FW
1394 Fault
V#
Hard Envelope Error (Joint #)
h#
High Temp Amp (Joint #)
AdeptViper s650/s850 Robot User’s Guide, Rev A
55
Chapter 5 - System Operation
56
AdeptViper s650/s850 Robot User’s Guide, Rev A
Maintenance
6.1
6
Installing and Using Brake Release Box
The manual brake release box can be used to release the brakes on a specific axis of the
robot. This procedure describes how to install and use this device. See Figure 6-1 on page
58.
WARNING: Secure the robot prior to releasing the brakes
on axes 2 and 3, to prevent injury to personnel or
equipment damage.
1. Make sure that high power is disabled (off).
2. Connect the 15-pin male D-sub connector into the 15-pin female D-sub connector
marked Brake on the sDAI board.
3. Press one of the E-Stops (Pendant, Front Panel, or external).
NOTE: An E-Stop must be activated in order for the brake release box to
work.
4. Using the axis selector switch, select the axis that you want to release the brake.
5. Depress the brake release pushbutton, to release the brake.
6. Repeat steps 4 and 5 above for releasing the brakes on another axis.
NOTE: When the Status LED (Green) is on, it indicates that the circuit is
enabled, when the brake release pushbutton is pressed.
AdeptViper s650/s850 Robot User’s Guide, Rev A
57
Chapter 6 - Maintenance
Axis selector switch
1
2 3 4
Status LED
5
6
OFF
BRAKE
RELEASE
Brake Release
Pushbutton
15-pin male
D-Sub connector
Figure 6-1. Manual Brake Release Box
6.2
Replacing Encoder Backup Battery
The encoder backup batteries should be replaced every two years. Replace the batteries
according to the procedure below.
1. Prepare a new set of 3 backup batteries for replacement.
2. Turn off AC power to the PA-4 and DC power to the controller.
3. Remove the cover from the robot unit.
Cover
Cover
removed
Cross pan-head
screw
Figure 6-2.
58
AdeptViper s650/s850 Robot User’s Guide, Rev A
Replacing Encoder Backup Battery
4. Remove the dummy connector cap from the battery board.
Dummy connector cap
Figure 6-3.
5. Connect a new battery (1st one) to the pin from which you have disconnected the
dummy connector cap in Step 4.
NOTE: Do not disconnect old backup batteries before connecting anew
one to the pin from which the dummy connector cap is removed. If you
do so, the encoder positional data may be lost.
New backup battery
Figure 6-4.
6. Disconnect the old backup battery that is right next to the new battery connected
in Step 5, and then connect a new battery (2nd one).
NOTE: Be sure to replace all of three batteries with new ones at one time.
Otherwise, the battery service life will be reduced.
AdeptViper s650/s850 Robot User’s Guide, Rev A
59
Chapter 6 - Maintenance
Old backup battery
New backup battery
Figure 6-5.
7. Disconnect the old backup battery that is right next to the new battery connected
in Step 6, and then connect a new battery (3rd one).
Old backup battery
New backup battery
Figure 6-6.
8. Remove the last old battery and connect the dummy connector cap disconnected
in Step 4.
60
AdeptViper s650/s850 Robot User’s Guide, Rev A
Installing User-Supplied Hardstops
Dummy connector cap
Old backup battery
Figure 6-7.
9. Replace the cover on the robot.
Tightening torque: Cross pan-head screw: 0.59 Nm
6.3
Installing User-Supplied Hardstops
For the purpose of limiting the robot working envelope, the hardstops, or mechanical
ends, for Joints 1, 2, and 3 on the AdeptViper robots can be changed by installing
user-supplied hardstop devices. In addition, the default softstops, or software limits, must
be modified after the hardstops have been installed.
If you need information on modifying hardstops, please contact Adept Customer Service
and request the document that describes this process.
CAUTION: Failures caused by user-supplied hardstops are
not covered by the warranty, even if the robot is under
warranty.
AdeptViper s650/s850 Robot User’s Guide, Rev A
61
Chapter 6 - Maintenance
62
AdeptViper s650/s850 Robot User’s Guide, Rev A
Technical Specifications
Robot Dimensions
578.42
575.68
375
295
80
115
108
Point P
˚
J5
90
120
-
12
0˚
+
R5
7
+
8.4
2
J3
74
270
19.
R2
˚
0˚
10
135
+
-
.42
R308
75
335
73.46
76˚
203
9˚
20
390.95
.42
08
R3
R158.79
J2
164.34
105
φ65
7.1
7
Workable space
defined by point P
Figure 7-1. AdeptViper s650 Side Dimensions and Work Envelope
AdeptViper s650/s850 Robot User’s Guide, Rev A
63
Chapter 7 - Technical Specifications
Workable space
defined by point P
170˚
.79
33
R2
187.7
J6
+
J4
+
CN21
79 67
51 59
Point P
3A
2A
1A
3B
2B
1B
J1
-
AIR2
+
R
65
3.
42
±360˚ ±190˚
170˚
Figure 7-2. AdeptViper s650 Top Dimensions and Work Envelope
64
AdeptViper s650/s850 Robot User’s Guide, Rev A
Robot Dimensions
779.88
779.88
485
405
80
218
Point P
12
90
+
°
0°
+
R77
J3
-
R3
9.88
23.
35
365
J5
120
10
°
0°
R166.34
+
-
9°
14
.88
203
R4
20
J2
335
135
R414
143.26
79°
75
.88
337.97
105
φ65
-
Workable space
defined by point P
Figure 7-3. AdeptViper s850 Side Dimensions and Work Envelope
AdeptViper s650/s850 Robot User’s Guide, Rev A
65
Chapter 7 - Technical Specifications
Workable space
defined by point P
170°
R2
187.7
41
.34
J4
+
J1
CN21
3A
2A
1A
3B
2B
1B
AIR2
79
67
51 59
Point P
J6
+
+
R
85
4.
88
±360° ±190°
170°
Figure 7-4. AdeptViper s850 Top Dimensions and Work Envelope
66
AdeptViper s650/s850 Robot User’s Guide, Rev A
Robot Flange Dimensions
7.2
Robot Flange Dimensions
Ø40 h8
Ø20 H7
6 Deep
0
- 0.039
4X M5 x 0.08
8 Deep
(31.5 B.C.)
Ø5 H7
7 Deep
+ 0.021
0
+ 0.012
0
Figure 7-5. Robot Flange Dimensions
AdeptViper s650/s850 Robot User’s Guide, Rev A
67
Chapter 7 - Technical Specifications
7.3
Specifications
Table 7-1. Robot Specifications
Specification
s650
s850
Overall arm length
270 (first arm) + 295 (second
arm) = 565 mm
365 (first arm) + 405 (second
arm) = 770 mm
Arm offset
J1 (swing): 75 mm, J3 (front
arm): 90 mm
J1 (swing): 75 mm, J3 (front
arm): 90 mm
Maximum motion area
R = 733 mm (end-effector
mounting face)
R = 653 mm (Point P: J4, J5,
J6 center)
R = 934 mm (end-effector
mounting face)
R = 854 mm (Point P: J4, J5,
J6 center)
Motion range
J1: ±170°
J2: -190°, +45°
J3: -29°, +256°
J4: ±190°
J5: ±120°
J6: ±360°
J1: ±170°
J2: -190°, +45°
J3: -29°, +259°
J4: ±190°
J5: ±120°
J6: ±360°
Maximum joint speed
J1: 328°/sec
J2: 300°/sec
J3: 375°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec
J1: 250°/sec
J2: 250°/sec
J3: 250°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec
Maximum composite speed
(at the center of an
end-effector mounting face)
8200 mm/s
7600 mm/s
Maximum payload
5 kg
5 kg
Position repeatability (Note 1)
In each of X, Y and Z
directions: ±0.02 mm
In each of X, Y and Z
directions: ±0.03 mm
Maximum allowable inertia
moment
Around J4: 0.295 kgm2
Around J5: 0.295 kgm2
Around J6: 0.045 kgm2
Around J4: 0.295 kgm2
Around J5: 0.295 kgm2
Around J6: 0.045 kgm2
Position detection
Simplified absolute encoder
Simplified absolute encoder
Drive motor and brake
AC servomotors for all joints,
Brakes for joints J2 to J6
AC servomotors for all joints,
Brakes for joints J2 to J6
User air piping (Note 2)
7 systems (Ø4x6, Ø6x1), 3
solenoid valves (2-position,
double solenoid) contained.
7 systems (Ø4x6, Ø6x1), 3
solenoid valves (2-position,
double solenoid) contained.
User signal line
10 (for proximity sensor
signals, etc.)
10 (for proximity sensor
signals, etc.)
Air source - Operating
pressure
1.0 × 105 Pa to 3.9 × 105 Pa
1.0 × 105 Pa to 3.9 × 105 Pa
68
AdeptViper s650/s850 Robot User’s Guide, Rev A
Specifications
Table 7-1. Robot Specifications (Continued)
Specification
s650
s850
Air source - Maximum
allowable pressure
4.9 × 105 Pa
4.9 × 105 Pa
Degree of Protection
IP-40
IP-40
Weight
Approx. 28 kg
Approx. 29 kg
Note 1: Position repeatability is the value at constant ambient temperature.
Note 2: Only the Ø4x6 air piping system may be controlled by built-in solenoid valves.
AdeptViper s650/s850 Robot User’s Guide, Rev A
69
Chapter 7 - Technical Specifications
70
AdeptViper s650/s850 Robot User’s Guide, Rev A
Index
A
AC power
connecting to power chassis 42, 45
installation diagram for 200-240VAC,
1-phase 47
installation diagram for 200-240VAC,
3-phase 44
installation diagram for 380-415VAC 44
requirements for power chassis,
1-phase 45
requirements for power chassis,
3-phase 42
robot power consumption, typical 42
turning on 49
voltage/current ratings
power chassis, 1-phase 45
power chassis, 3-phase 42
Adept Document Library 12
Adept PA-4, see PA-4 power chassis
AIR1/AIR2 air lines, description 33
arm power/signal cable
installing 40
axis identification, on robot 9
s650 robot, side view 63
s650 robot, top view 64
s850 robot, side view 65
s850 robot, top view 66
Document Library CD-ROM 12
E
emergency situation, what to do 24
end-effectors
flange dimensions 67
inertia 36
mass, center of gravity 35
environmental requirements
robot 26
external mounting holes, on robot 34
F
flange on robot, dimensions
67
G
grounding the robot
31
H
B
brake release box, installation
hazards
from attached tooling 15
from expelling a part 15
How Can I Get Help? 12
57
C
CN20 connector
description 32
CN20/CN21 connector
signal wiring 33
connecting
AC power to PA-4 42, 45
power chassis cord to AC supply
connectors on robot, description 32
current/voltage ratings
power chassis, 1-phase 45
power chassis, 3-phase 42
Customer Service assistance 12
D
definition of a Manipulating Industrial
Robot 14
dimensions
robot flange 67
I
43, 45
IEEE 1394 cable, installing 40
impact and trapping points 14
installation
brake release box 57
PA-4 power chassis 40
robot 30
SmartController 40
system, overview 11
intended use of the robot 19
interface box
location on PA-4 41
interface panel on robot 32
M
Manipulating Industrial Robot, defined
modifications
AdeptViper s650/s850 Robot User’s Guide, Rev A
14
71
Index
acceptable 20
unacceptable 20
moment of inertia, end-effectors 36
mounting hole pattern, for robot 30
N
Notes, Cautions, and Warnings, description
of 13
programming 50
s650 dimensions, side view 63
s650 dimensions, top view 64
s850 dimensions, side view 65
s850 dimensions, top view 66
solenoids, signal wiring 33
transporting 27
unpacking and inspection 25
working area 21
robot flange, dimensions 67
O
overview
system installation
S
11
P
PA-4 power chassis
AC power requirements, 1-phase 45
AC power requirements, 3-phase 42
installing 40
power requirements
PA-4 power chassis, 1-phase AC 45
PA-4 power chassis, 3-phase AC 42
precautions and required safeguards 14
protection, against unauthorized
operation 23
Q
qualification of personnel
22
R
related manuals 12
requirements
environmental, robot 26
PA-4 power chassis, 1-phase AC 45
PA-4 power chassis, 3-phase AC 42
robot, operating environment 26
risk assessment 17
risks that cannot be avoided 23
robot
AC power consumption, typical 42
and machinery safety standards 17
axis identification 9
brake release box 57
definition of industrial 14
external mounting holes 34
grounding 31
in hoisting sling 27
intended uses 19
interface panel 32
modifications 20
mounting hole pattern 30
mounting procedure 30
operating requirements 26
performance specifications 68
72
safety 13
during maintenance 23
equipment for operators 22
expelling a part 15
impact and trapping points 14
required safeguards 14
requirements for additional
equipment 21
sources for information 15
safety barriers 14
sDAI module, status panel codes 55
SmartController
description 10
installation 40
solenoids, in robot
signal wiring 33
valve specifications 34
sources for international standards and
directives 16
specifications
robot performance 68
status panel codes, on sDAI module 55
system
operating environment requirements,
robot 26
startup procedure 49
T
transporting robot 21
precautions 27
setting position 28
U
unpacking
and inspecting Adept equipment
V
valve specifications
solenoids 34
voltage
maximum operating
AdeptViper s650/s850 Robot User’s Guide, Rev A
25
Index
power chassis, 1-phase AC
power chassis, 3-phase AC
minimum operating
power chassis, 1-phase AC
power chassis, 3-phase AC
45
42
45
42
W
What to do in an emergency situation 24
work envelope
s650 robot, side view 63
s650 robot, top view 64
s850 robot, side view 65
s850 robot, top view 66
working areas 21
X
XSYS cable, installing
40
AdeptViper s650/s850 Robot User’s Guide, Rev A
73
Index
74
AdeptViper s650/s850 Robot User’s Guide, Rev A
P/N: 05173-000, Rev A
3011 Triad Drive
Livermore, CA 94551
925•245•3400