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adept technology AdeptThree User Manual

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AdeptThree Robot
User's Guide
PRELIMINARY
VERSION

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Summary of Contents for adept technology AdeptThree

  • Page 1 AdeptThree Robot User’s Guide PRELIMINARY VERSION...
  • Page 2 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 subject to change without notice and should not be construed as a commitment by Adept Technology, Inc.

  • Page 4: Table Of Contents

    TABLE OF CONTENTS GENERAL INFORMATION ................1 This Manual and Related Publications............1 Notes, Cautions, and Warnings................1 Orientation......................2 Controller High Power Indicator ..............2 Customer Service Assistance ................2 Service Calls....................2 Training Information..................3 Application Information................3 International Customer Assistance .............3 Safety ........................3 System Safeguards..................4 Equipment Safety...................4 Robot Modifications ...................5 OVERVIEW......................
  • Page 5 Electrical......................22 Robot Workcell Free Space.................22 Floor.......................22 Mounting Surface ..................24 Plate......................24 Spool......................26 Tool and Equipment Requirements ...............27 Unpacking and Inspection ................27 Before Unpacking ..................27 Upon Unpacking ..................27 Repacking For Relocation................28 Preparation For Installation ................28 Installing a Mounting Plate................29 Installing a Mounting Spool................30 Robot Installation....................33 Facility Interconnection ...................34 Robot to Controller..................34...
  • Page 6 AdeptThree User's Guide Maintenance and Troubleshooting ..............55 Checking Flange Position ................55 INDEX........................... 57 LIST OF FIGURES Figure 2-1. AdeptThree Robot Joint Locations ...........7 Figure 2-2. Joint 1 Motion ..................8 Figure 2-3. Joint 2 Motion ..................9 Figure 2-4. Joint 3 and Joint 4 Motion ..............10 Figure 2-5.
  • Page 7 LIST OF TABLES Table 2-1. Softstop and Hardstop Specifications ........14 Table 2-2. Specifications ................. 18 Table 3-1. Tower PCA Connector Pinouts........... 43 Table A-1. Fifth Axis Specifications............... 53 Table A-2. Fifth Axis User Connector Pin Identification......55...

  • Page 9: General Information

    GENERAL INFORMATION 1.1 This Manual and Related Publications This manual provides general, installation, and maintenance information for the AdeptThree robot, also referred to as a Selective Compliance Assembly Robot Arm, or SCARA. The following Adept publications are referenced in this manual: V and V + Reference Guide •...

  • Page 10: Orientation

    ARM POWER. 1.3 Customer Service Assistance Service Calls Adept Technology maintains a fully staffed Customer Service Center at its headquarters in San Jose, CA. Two dedicated phone lines are available for service calls only: (800) 232-3378 from outside California...

  • Page 11: Application Information

    Customer Service Center in Dortmund, West Germany. The phone number is: 0231-129081. 1.4 Safety The AdeptThree robot may move at high speed and exert considerable force. Like all mechanical systems and most industrial equipment, it must be treated with respect by both the User and the Operator.

  • Page 12: System Safeguards

    POWER PROGRAM RUNNING in severe injury. Adept Technology highly recommends the use of workcell safety features such as light curtains, safety gates, or safety floor mats to prevent access to the workcell while power is present. Adept Controller systems have...

  • Page 13: Robot Modifications

    1.5 Robot Modifications It is often necessary to make modifications to Adept robots to successfully integrate them into a workcell. Unfortunately, many seemingly simple modifications can either cause a robot failure, or reduce the robot’s performance, reliability, or lifetime. In general, the following robot modifications will not cause any problems, but may affect robot performance: •...
  • Page 14 AdeptThree User's Guide NOTES...

  • Page 15: Overview

    2.1 Description General The AdeptThree is a four-axis SCARA robot. Joints 1, 2, and 4 are rotational and Joint 3 is translational. Refer to Figure 2-1 for an overview of the robot joint locations. Refer to Figure 2-11 for the operating envelope and Table 2-2 for specifications.

  • Page 16: Joint Motions

    (MCP) is required for manually teaching robot locations. Additionally, it can serve as the sole operator interface to the system. All physical connections between the AdeptThree robot, its controller, and the facility are located at the rear of the robot base, as shown in Figure 2-9.

  • Page 17: Joint 2

    300°. This motion can be likened to an elbow capable of acting in either a left- or right-hand configuration. (Refer to Figure 2-3.) The AdeptThree is capable of attaining a given location utilizing either a right-hand ("Righty") or left-hand ("Lefty") configuration. However,...

  • Page 18: Joint 3

    AdeptThree User's Guide Joint 3 Joint 3 provides vertical movement of the quill at the end of the outer link, with a maximum stroke of 12.0 inches (30.5 cm). (Refer to Figure 2- Joint 4 Joint 4, also referred to as the “wrist”, provides rotation of the quill over a range of 540°.

  • Page 19: Limiting Joint Travel

    Limiting Joint Travel The joint motion or travel is limited by both software and hardware. The programmable software limits are known as softstops; the fixed hardware limits are called hardstops. (See Figures 2-5 to 2-8 and Table 2- Softstops The robot controller uses softstops to determine the range of motion it will allow the robot to move under program control, or to be moved by an operator using the manual control pendant.

  • Page 20: Figure 2-5. Joint 1 Hardstop

    AdeptThree User's Guide Figure 2-5. Joint 1 Hardstop (Internal to Joint 1 column) Figure 2-6. Joint 2 Hardstop...

  • Page 21: Figure 2-7. Joint 3 Hardstop

    Figure 2-7. Joint 3 Hardstop...

  • Page 22: Figure 2-8. Joint 4 Hardstop

    AdeptThree User's Guide Figure 2-8. Joint 4 Hardstop (Internal to Outer Link) Table 2-1. Softstop and Hardstop Specifications Softstop Hardstop (approximate) Comments Joint 1 ±150° +290° (+20°, –0°) See also Figure 2-11 –290° (–20°, +0°) Joint 2 ±150° +152° (+3°, –0°) See also Figure 2-11 –152°...

  • Page 23: Brakes

    Brakes The AdeptThree has "fail-safe" air release brakes on all joints. These brakes are on whenever is off. The brakes HIGH POWER (ARM POWER) are intended primarily to restrict arm movement when high power is off, but they also assist in stopping robot motion when the Emergency Stop circuitry is activated or when there is a robot motion error.

  • Page 24: Dimensions

    AdeptThree User's Guide 2.2 Dimensions Overall dimensions for the AdeptThree are shown in Figure 2-10 and the robot envelope is shown in Figure 2-11. Figure 2-10. Dimensional Overview...

  • Page 25: Figure 2-11. Adeptthree Robot Working Envelope

    Figure 2-11. AdeptThree Robot Working Envelope...

  • Page 26: Specifications

    AdeptThree User's Guide 2.3 Specifications Table 2-2. Specifications Reach (Refer to Figures 2-10 and 2-11) Maximum radial 42.0 in. (1067 mm) Minimum radial 11.0 in. (279 mm) Vertical clearance (bottom of base to end-effector flange) - with maximum Joint 3 retraction 34.6 in.

  • Page 27: Options

    Weight Robot without options 480 lb (218 kg) Design Life 42,000 hours Specifications subject to change without notice. 2.4 Options The AdeptThree is compatible with the following Adept options: • AdeptVision Systems • Robot-mounted Camera Hardware • Variable Compliance Wrist •...
  • Page 28 AdeptThree User's Guide NOTES...

  • Page 29: Installation

    Compressed Air The AdeptThree requires clean, dry, compressed air at 80-120 pounds per square inch (psi) with a flow rate of 1 Standard Cubic Foot per Minute (SCFM) to release its brakes. Additional air flow may be required for actuation of end effectors.

  • Page 30: Electrical

    AdeptThree User's Guide The AdeptThree has an air filter and moisture trap on its inlet air fitting. The moisture trap should be emptied periodically; see Chapter 4 for cleaning instructions. If clean, dry air is not available, additional user- supplied filtering is required. The AdeptThree air connection inlet is a 1/4-inch Industrial Interchange nipple located at the air filter at the base of the robot.

  • Page 31: Figure 3-1. Adeptthree With Calibration Fixture

    Figure 3-1. AdeptThree with Calibration Fixture...

  • Page 32: Mounting Surface

    AdeptThree User's Guide Mounting Surface Due to the very high torque transmitted by the AdeptThree, the robot MUST be mounted to an extremely rigid structure. Any mounting structure vibration or flexing will seriously degrade robot performance. Adept recommends using either a mounting plate or a mounting spool.

  • Page 33: Figure 3-2. Mounting Hole Pattern (Robot-To-Plate/Spool)

    Figure 3-2. Mounting Hole Pattern (Robot-to-Plate/Spool) Figure 3-3. Mounting Hole Pattern (Plate/Spool-to-Floor)

  • Page 34: Spool

    The second method of mounting uses a spool. The spool may be either procured or manufactured. Refer to Figure 3-1 for an overview of an AdeptThree robot mounted on a spool. One recommended source for a prefabricated spool is: INTERLAKE BASES...

  • Page 35: Tool And Equipment Requirements

    3.2 Tool and Equipment Requirements Common hand tools, supplemented by the following items, are required for installation of the AdeptThree and any options or end effectors: • Drill motor, 1/2 inch drive • Masonry bit, 7/8 inch • Ratchet handle, 1/2 inch drive •...

  • Page 36: Repacking For Relocation

    AdeptThree User's Guide Repacking For Relocation Should relocation of the robot become necessary, reverse the steps employed in the installation procedures that follow this section. Re-use all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty.

  • Page 37: Installing A Mounting Plate

    3.5 Installing a Mounting Plate The following sequence details the installation of the robot-mounting plate to the floor. (See Figure 3.5) Drill and tap three (3) 1/2-13 UNC-2B mounting holes, as shown in Figure 3-2, for robot-to-plate attachment. Drill three (3) 5/8 inch (16 mm) diameter through holes, as shown in Figure 3-3, for plate-to-floor anchoring.

  • Page 38: Installing A Mounting Spool

    AdeptThree User's Guide Using a vacuum cleaner, remove all chips and debris from the holes (and surrounding area) drilled in step 4. Insert an expansion bolt anchor into each of the three holes in the floor. Ensure that the threaded end of each bolt anchor is toward the bottom of each hole, as shown in Figure 3-5.
  • Page 39 Set the spool aside and drill three holes, 7/8 inch (22 mm) in diameter by 3.5 inches (90 mm) deep, in the floor at the locations identified in step 3. Using a vacuum cleaner, remove all chips and debris from the holes (and surrounding area) drilled in step 4.

  • Page 40: Figure 3-6. Mounting Spool-To-Floor Installation Detail

    AdeptThree User's Guide Figure 3-6. Mounting Spool-to-Floor Installation Detail...

  • Page 41: Robot Installation

    3.7 Robot Installation The following sequence details the installation of the robot to the mounting plate or spool. Connect the hydraulic lift to the eyebolts at the top of the robot (Figure 3-7) by means of the dual-leg sling. Take up any slack but DO NOT lift the robot at this time.

  • Page 42: Facility Interconnection

    AdeptThree User's Guide 3.8 Facility Interconnection All interconnection points to the robot are located at the rear of the base, see Figure 2-9. Robot to Controller Electrical power and control signals are supplied to the robot via cables from the controller. Refer to the User's Guide for your specific controller...

  • Page 43: Facility Air Supply

    3.9 End Effectors Provision of an end effector or other end-of-arm tooling is the respon- sibility of the User. The AdeptThree design allows simple integration with end effectors. There is easy access to the User air lines, spare air lines, and electrical connectors on the Tower printed circuit assembly (PCA).

  • Page 44: Figure 3-8. Quill Flange Dimensions

    AdeptThree User's Guide Figure 3-8. Quill Flange Dimensions...

  • Page 45: Screw-Mounted End Effector

    Figure 3-9. Clamp-mounted End Effector Installation Install the "OPEN" and "CLOSE" air lines onto the appropriate fittings on the end effector. Mate the end-effector flange to the quill flange. Rotate the end effector until its key aligns with the keyway in the quill flange, then place the ring clamp over both flanges and tighten the clamp screw.

  • Page 46: Figure 3-10. Screw-Mounted End Effector Installation

    AdeptThree User's Guide Figure 3-10. Screw-mounted End Effector Installation Mate the end-effector flange to the quill flange. Rotate the end effector until its key aligns with the keyway in the quill flange. Insert four 8-32 screws through the mounting holes and tighten.

  • Page 47: User Signal And Voltage Lines

    3.10 User Signal and Voltage Lines User signal and voltage lines are available at connectors located on the Tower printed circuit assembly (PCA). The Tower PCA is mounted to the top of the Joint 3 housing (refer to Figure 3-7). For the location of the connectors on the Tower PCA, including the location of pin 1 for each connector, see Figure 3-11.

  • Page 48: Solenoid Drivers

    AdeptThree User's Guide Solenoid Drivers Two spare solenoid drivers are provided on the Tower PCA: Sig-2025 and Sig-2026. These are directly switchable from V or V by utilizing software signals 2025 and 2026, respectively. Refer to the SIGNAL command in the V and V Reference Guide for additional information.

  • Page 49: Dc Power

    DC Power The Tower PCA provides limited DC power (500 mA max.) to drive User end-of-arm hardware such as indicators, small motors, or other analog devices. 12 VDC, -12 VDC, 12RTN, and FRAME ground are available. Each of these is terminated at J12 (POW) on the Tower PCA. Refer to Table 3-1 for pin assignments and Figure 3-11 for the connector's location.

  • Page 50: Figure 3-11. Tower Card User Signal And Voltage Lines

    AdeptThree User's Guide Figure 3-11. Tower Card User Signal and Voltage Lines...

  • Page 51: Table 3-1. Tower Pca Connector Pinouts

    Table 3-1. Tower PCA Connector Pinouts SIGNAL COMMENTS ALT FRC / J3 Tower card connector: T and B Corp. #500-1627ES User's harness end: AMP #499936-3 +12BF Uncommitted supply FRC1+ User signal FRC1- " " FRC2+ " " FRC2- " " FRC3+ "...
  • Page 52 AdeptThree User's Guide Table 3-1. Tower PCA Connector Pinouts (continued) SIGNAL COMMENTS HANDS / J6 Tower card connector: Panduit Corp. #MLSS100-8 User's harness end: AMP MTA-100 #640441-8 Sig-2031+ Hand open solenoid Sig-2031- " " " Sig-2030+ Hand close solenoid Sig-2030- "...
  • Page 53 Table 3-1. Tower PCA Connector Pinouts (continued) SIGNAL COMMENTS User / J9 Tower card connector: Terminal strip, Phoenix #1715 828 (MKDS 1.5/12-5.08) User's harness end: 16 AWG - 30 AWG wires +12BF Uncommitted supply USR1+ User signal USR1- " " USR2+ "...
  • Page 54 AdeptThree User's Guide NOTES...

  • Page 55: Maintenance

    CHAPTER 4 MAINTENANCE 4.1 Introduction The AdeptThree robot requires very little maintenance due to its direct- drive design. Joints 1 and 2 need no maintenance at all. This chapter describes the preventive maintenance procedures that are required to keep the robot operating properly.

  • Page 56: Lubrication Of Joint 3

    AdeptThree User's Guide Lubrication of Joint 3 Turn HIGH POWER (ARM POWER) off. Remove the quill cover and move the quill to its fully-raised position. Apply a thin coating of grease to the ballscrew threads and move the ballscrew up and down several times to ensure an even spread of grease.

  • Page 57: Figure 4-1. Joint 3 And Joint 4 Lubrication

    Figure 4-1. Joint 3 and Joint 4 Lubrication...

  • Page 58: Draining Moisture From The Air Filter

    AdeptThree User's Guide 4.3 Draining Moisture from the Air Filter The air filter on the compressed air inlet at the robot base has a moisture trap that should be emptied periodically, depending on the quality of the air supply and the frequency of usage. The procedure to empty the trap is done with the air supply connected.
  • Page 59 While supporting the quill, press the brake release button at the back of the robot base. CAUTION When the brake release button is pressed, the quill could drop to the bottom of its travel. To prevent possible damage to the equipment, make sure that the quill is supported while releasing the brake and verify that installed tooling is clear of all obstructions.
  • Page 60 AdeptThree User's Guide NOTES...

  • Page 61: Appendix A - Fifth Axis Option

    APPENDIX A FIFTH AXIS OPTION A.1 Introduction The fifth axis, also known as Joint 5, is a servo pitch option for Adept robots. The fifth axis allows the robot to position end-of-arm tooling between +90° and -90° from vertical. The fifth axis is fully integrated into the robot system.

  • Page 62: Operation

    Adept CC Controller A.4 Operation Installing End Effectors The fifth-axis end-effector tool flange will accept any "flat-back" end effector compatible with the standard Adept flange (see Figure A-1). The end effector can either be bolted on or secured with the standard Adept ring clamp.

  • Page 63: User Electrical Connector

    Index User Electrical Connector A cable with a six-pin connector on one end (Adept part number 10845- 24950) is supplied with the fifth axis. This cable is designed to mate with the user electrical receptacle located between the two air fittings (see Figure A-1).
  • Page 64 Adept CC Controller NOTES...

  • Page 65: Index

    Index INDEX Air filter draining moisture, 50 Hardstops, 11-14 Air quality facility requirements, 21 Installation floor requirements, 22 Brake-release button, 15 preparation for, 28 required tools, 27 Calibration fixture, 22 Compressed air Joint 4 overtravel installation, 35 diagnostic procedure, 50 requirements, 21 Joint motion spare lines inside robot, 35...
  • Page 66 AdeptThree User's Guide Repacking for relocation, 28 Robot connection to controller, 34 dimensions, 16 joint locations, 7 modifications, 5 optional equipment, 19 specifications, 18 working envelope, 17 Safety, 3-4 Softstops, 11-14 Solenoid drivers 2025, 2026 on Tower PCA, 40 Tower PCA, 39-45...
  • Page 67 Thank you for your input. NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER PUBLICATION DATE COMMENTS MAIL TO: Adept Technology, Inc. Technical Publications Dept. 150 Rose Orchard Way San Jose, CA 95134...
  • Page 68 AdeptThree User's Guide...
  • Page 69 Chapter 1 – General Information...
  • Page 70 AdeptThree User's Guide 00640-10110 Rev A...

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