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Related Manuals for adept technology AdeptViper s650
Summary of Contents for adept technology AdeptViper s650
- Page 1 AdeptViper s650/s850 Robot User’s Guide...
- Page 3 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 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450 41, rue du Saule Trapu • 91300 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62...
- Page 4 The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub- ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed and revised.
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Page 5: Table Of Contents
AdeptViper s650/s850 Robots........ - Page 6 Table of Contents 2.14 Risks Due to Incorrect Installation or Operation ......23 2.15 What to Do in an Emergency Situation ....... 24 Robot Installation .
- Page 7 Table of Contents 5.6 Status Panel Codes on sDAI Module ........55 Maintenance .
- Page 8 Table of Contents AdeptViper s650s/850 Robot User’s Guide, Rev A...
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Page 9: Introduction
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. -
Page 10: Adept Smartcontroller Cx
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). AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 11: Installation Overview
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... -
Page 12: How Can I Get Help
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 13: Safety
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... -
Page 14: Precautions And Required Safeguards
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 15: Hazards From Expelling A Part Or Attached Tooling
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... - Page 16 Rue de Varembe 3 900 Victors Way PO Box 131 PO Box 3724 CH-1211 Geneva 20 Ann Arbor, MI 48106 Switzerland Phone 41 22 919-0211 Phone 313-994-6088 Fax 41 22 919-0300 Fax 313-994-3338 http://www.iec.ch http://www.robotics.org AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 17: Risk Assessment
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... -
Page 18: Avoidance
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 19: Intended Use Of The Robots
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... -
Page 20: Robot Modifications
• 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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 21: Transport
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... -
Page 22: Qualification Of Personnel
• 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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 23: 2.11 Protection Against Unauthorized Operation
• 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... -
Page 24: 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 CO to extinguish the fire. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 25: Robot Installation
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... -
Page 26: Environmental And Facility Requirements
Installation conditions Grounding resistance: 100 milliohms or less Figure 3-3 on page AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 27: Transporting The Robot
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... -
Page 28: Transport Procedure
When the robot unit is first unpacked, this job is not required. As shown at right, mount the eyebolts. When delivered, the robot unit is packed with eyebolts attached, so this job is not required Eyebolts AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 29 Section 3.4 on page Remove the eyebolts from the robot Caution: Before running the robot unit, be unit. sure to remove the eyebolts. Otherwise, the robot arm will strike against those eyebolts. AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 30: Mounting The Robot
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 31: Grounding The Robot
Failure to observe this caution may result in fire or electric shock. C N 2 2 A I R 1 AIR 2 C N20 Grounding terminal (M5) 12 AWG or more Figure 3-3. Ground Point on Robot AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 32: Description Of Connectors On Robot Interface Panel
Section 3.7 on page 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 AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 33: Air Lines And Signal Wiring
Model and part name Appearance SRCN6A25-24S 410887-0170 (round type connector) For CN20 (for CN20) Japan Aviation Electronics Industry Ltd. 05019-000 410889-0030 JMLP1610M 410877-0180 (L type plug connector) For CN21 (for CN21) DDK Electronics, Inc. AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 34 0.5 W (21 mA) Surge voltage protection circuit Zener diode 2-M4, 16 DEEP 2-M3, 7 DEEP 104.5(VS-6556E) 100 (VS-6577E) 2-M5, 12 DEEP 2-M8, 25 DEEP (Unit:mm) Figure 3-5. External Mounting Holes on Robot AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 35: Designing End-Effectors
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. Figure 3-6. Allowable Range of Center of Gravity Position of End-effector AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 36: Moment Of Inertia Around J4, J5 And J6
Inertia moment around center of gravity 3. Rectangular parallelepiped (The axis of rotation passes through the center of gravity.) kgm l: Moment of inertia kg m: Mass m r: Radius m b, c, : Length AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 37 (from 2 and 5 in Table 2-3) ((0.08 + 0.01 + 0.05) +0.05 2.30 × 10 [kgm Moment of inertia around J4 and J5 of entire end-effector: I 2.54×10 [kgm Figure 3-7. Moment of Inertia Calculation Examples AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 38 Chapter 3 - Robot Installation AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 39: System Installation
C N 2 2 AIR1 T1 Pendant (optional) AIR2 C N 2 0 AdeptViper s650 Desktop or Laptop PC Robot (user-supplied) Grounding User-Supplied Terminal (M5) Ground Wire Figure 4-1. System Cable Diagram for AdeptViper s650 Robot AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 40: Installing The Smartcontroller
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 41 SHORT FAULT SHORT FAULT SHORT FAULT SmartServo 1 & 2 EXPIO Latching Screws XSLV Interface Box External Brake Arm Power/Signal Connector Connector adept technology, inc. Figure 4-2. Adept PA-4 Power Chassis with sDAI Module AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 42: Connecting 3-Phase Ac Power To Pa-4
Adept PA-4 Power Chassis User’s Guide. versa 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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 43: Connecting The Pa-4 3-Phase Ac Power Cord To Ac Supply
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... -
Page 44: Typical 3-Phase Ac Power Installation Diagrams
Typical 3-Phase AC Power Installation Diagrams 3Ø 200–240V~ Adept PA-4 3Ø 200–240V~ Figure 4-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System 3Ø 380–415V~ Adept PA-4 3Ø 380–415V~ Figure 4-4. Typical 3-Phase 380-415 VAC Connection for PA-4 System AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 45: Connecting 1-Phase Ac Power To Pa-4
Color code: 200 - 240 line 1 black line 2 black ground 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... - Page 46 Power cord 19 mm (3/4 inch) from PA-4 shrink tubing Black wire Black wire Green/Yellow wire Blue wire Brown wire 7 mm (1/4 inch) shrink tubing Figure 4-5. 1-Phase AC Cable Wiring AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 47: Typical Single Phase, 220 Vac Power Installation Diagrams
Connecting 1-Phase AC Power to PA-4 Typical Single Phase, 220 VAC Power Installation Diagrams Facility Supply 1Ø 200–240V~ 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... - Page 48 Chapter 4 - System Installation AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 49: System Operation
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... -
Page 50: Learning To Program The Robot
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 AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 51: Connecting Digital I/O To The System
1 2 3 4 XDIO XUSR XSYS XMCP XDC1 XDC2 adept technology, inc. 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... - Page 52 0129 - 0136 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...
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Page 53: Installing Axis Labels
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... -
Page 54: Caution Label On Robot
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 55: Status Panel Codes On Sdai Module
Duty Cycle Exceeded (Joint #) Processor Overloaded Encoder Fault (Joint #) RSC Fault E-Stop Safety System Fault (Code #) Firmware Mismatch Watchdog Timeout 1394 Fault Hard Envelope Error (Joint #) High Temp Amp (Joint #) AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 56 Chapter 5 - System Operation AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 57: Maintenance
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... -
Page 58: Replacing Encoder Backup Battery
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. AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 59 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...
- Page 60 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. AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 61: Installing User-Supplied Hardstops
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... - Page 62 Chapter 6 - Maintenance AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 63: Technical Specifications
Technical Specifications Robot Dimensions 578.42 575.68 Point P 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... - Page 64 Chapter 7 - Technical Specifications Workable space defined by point P 187.7 Point P ±360˚ ±190˚ Figure 7-2. AdeptViper s650 Top Dimensions and Work Envelope AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 65 Robot Dimensions 779.88 779.88 Point P 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...
- Page 66 Chapter 7 - Technical Specifications Workable space defined by point P 187.7 Point P ±360° ±190° Figure 7-4. AdeptViper s850 Top Dimensions and Work Envelope AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 67: Robot Flange Dimensions
Robot Flange Dimensions Robot Flange Dimensions Ø40 h8 4X M5 x 0.08 - 0.039 8 Deep (31.5 B.C.) + 0.012 Ø5 H7 + 0.021 Ø20 H7 7 Deep 6 Deep Figure 7-5. Robot Flange Dimensions AdeptViper s650/s850 Robot User’s Guide, Rev A... -
Page 68: Specifications
10 (for proximity sensor 10 (for proximity sensor signals, etc.) signals, etc.) Air source - Operating 1.0 × 10 Pa to 3.9 × 10 1.0 × 10 Pa to 3.9 × 10 pressure AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 69 Approx. 28 kg Approx. 29 kg Note 1: Position repeatability is the value at constant ambient temperature. Note 2: Only the 4x6 air piping system may be controlled by built-in solenoid valves. Ø AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 70 Chapter 7 - Technical Specifications AdeptViper s650/s850 Robot User’s Guide, Rev A...
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Page 71: Index
3-phase Customer Service assistance interface box location on PA-4 interface panel on robot definition of a Manipulating Industrial Robot Manipulating Industrial Robot, defined dimensions robot flange modifications AdeptViper s650/s850 Robot User’s Guide, Rev A... - Page 72 Adept equipment in hoisting sling intended uses interface panel modifications valve specifications mounting hole pattern solenoids mounting procedure voltage operating requirements maximum operating performance specifications AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 73 3-phase AC What to do in an emergency situation work envelope s650 robot, side view s650 robot, top view s850 robot, side view s850 robot, top view working areas XSYS cable, installing AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 74 Index AdeptViper s650/s850 Robot User’s Guide, Rev A...
- Page 76 3011 Triad Drive Livermore, CA 94551 925•245•3400 P/N: 05173-000, Rev A...