adept technology PA-4 Series User Manual
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adept technology PA-4 Series User Manual

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adept technology PA-4 Series User Manual

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  • Page 1 (217) 352-9330 | Click HERE Find the OMRON / Adept Technology B+ at our website:...
  • Page 2 Adept PA-4 Power Chassis User’s Guide for PA-4 CAT-3 J-AMP J-AMP J-AMP CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED STATUS IS COMPLETELY DISTINGUISHED...
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 Adept PA-4 Power Chassis User’s Guide for PA-4 CAT-3 J-AMP J-AMP J-AMP CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED STATUS IS COMPLETELY DISTINGUISHED...
  • Page 5 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.

  • Page 6: Table Of Contents

    Table of Contents Introduction ..........9 1.1 Manual Overview.
  • Page 7 Table of Contents Installation for AdeptOne Robots ......43 5.1 Overview ............43 5.2 A Amplifier Modules .
  • Page 8 List of Figures Figure 1-1. Adept PA-4 Power Chassis ......... 9 Figure 1-2.
  • Page 9 List of Figures Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: Introduction

    Introduction Manual Overview This manual describes the installation and maintenance of the Adept PA-4 CAT-3 power chassis as it is used in the: • Adept Viper and Cobra s850 robot product lines (see Chapter • AdeptSix robot product line (see Chapter •...

  • Page 11: Environmental And Facility Requirements

    Chapter 1 - Introduction Environmental and Facility Requirements The Adept PA-4 installation must meet the operating environment requirements shown Table 1-1. See the robot manual that came with your system for environment requirements for the robot. Table 1-1. Adept PA-4 Operating Environment Requirements Ambient temperature 5°...

  • Page 12: Compatibility Information

    Manual Overview Compatibility Information The CAT-3 version of the PA-4, P/N 01044-000, was developed primarily to support the Category 3 robot systems. You can identify this new version of the PA-4 from earlier versions in two ways: • the product ID label with the new part number 01044-000, located on the right side of the chassis.
  • Page 13 Chapter 1 - Introduction Table 1-2. PA-4 Plug-in Module Compatibility Modules Compatible with CAT-3 PA-4 Robot Control Modules sDAI Adept Viper s650/s850 and Cobra s850 robot systems sDAI-100W Adept Viper s1300 robot systems sDAI-HP Adept Viper s1700 robot systems sMAI AdeptSix robot systems, starting in October 2004 MAI-2 AdeptSix robot systems prior to the sMAI module...

  • Page 14: How Can I Get Help

    Manual Overview 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...

  • Page 15: Adept Document Library

    Chapter 1 - Introduction Adept Document Library The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from: • the Adept Software CD shipped with your system • the separate ADL CD shipped with your system. •...

  • Page 16: Reading And Training For Users And Operators

    Safety WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment. CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment. NOTE: This provides supplementary information, emphasizes a point or procedure, or gives a tip for easier operation.

  • Page 17: Additional Safety Information

    Chapter 1 - Introduction Additional Safety Information The standards and regulations listed in this manual contain additional guidelines for robot system installation, safeguarding, maintenance, testing, start-up, and operator training. Table 1-4 lists some sources for the various standards. Table 1-4. Sources for International Standards and Directives SEMI International Standards American National Standards Institute (ANSI) 3081 Zanker Road...
  • Page 18 Safety Table 1-4. Sources for International Standards and Directives (Continued) Underwriters Laboratories Inc. 333 Pfingsten Road Northbrook, IL 60062-2096 USA Phone: +1-847-272-8800 Fax: +1-847-272-8129 http://www.ul.com/ Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 19 Chapter 1 - Introduction Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 20: Mounting The Pa-4 Chassis

    Mounting the PA-4 Chassis The PA-4 chassis must be installed in a suitable enclosure that provides the environment (temperature, etc.) specified in Table 1-1 on page 10. The enclosure must also provide a power disconnect with a method for user service personnel to lock the power in the position.

  • Page 21: Panel Or Rack Mounting

    Chapter 2 - Mounting the PA-4 Chassis Panel or Rack Mounting The PA-4 chassis can be panel or rack mounted using the optional mounting brackets (P/N 90336-31030F). The brackets can be attached at the rear of the PA-4 chassis for panel mounting, or they can be attached to the front of the PA-4 chassis for rack mounting.

  • Page 22: Figure 2-1. Installing Mounting Brackets On An Adept Pa-4 Chassis

    Space Around the Chassis M4 x 10 mm pan-head screw (2 places) To Install Mounting Brackets on Adept PA-4 Power Chassis: • Remove (and discard) 3 existing countersunk screws from side of chassis at locations shown in drawing. • Place bracket in desired position and secure with M4 pan-head screws and washers from accessories kit where indicated in drawing.

  • Page 23: Adept Pa-4 Dimensions

    Chapter 2 - Mounting the PA-4 Chassis WARNING: Do not turn on AC power to the PA-4 until you have completed installation of the robot, controller, and any additional equipment. Refer to your robot manual to verify system installation and activate system power. Refer to your robot manual for information on PA-4 chassis power requirements and instructions on connecting AC power to the PA-4 chassis.

  • Page 24: Figure 2-3. Basic Adept Pa-4 Power Chassis Dimensions (Without Modules)

    Adept PA-4 Dimensions 290 mm (11.4 in.) Top View 290 mm 216 mm (11.4 in.) (8.5 in.) 479 mm (18.9 in.) adept technology, inc. 136 mm (5.4 in.) 18 mm (0.7 in.) Front View Side View Figure 2-3. Basic Adept PA-4 Power Chassis Dimensions (Without Modules) Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ...

  • Page 25: Figure 2-4. Pa-4 Dimensions With Mounting Brackets Installed

    Chapter 2 - Mounting the PA-4 Chassis 266 mm (10.47 in.) 3.2 mm (0.13 in.) 22.2 mm (0.87 in.) 133.35 mm (5.25 in.) adept technology, inc. 479 mm (18.8 in.) 146.05 mm PA-4 Power Chassis with (5.75 in.) mounting brackets installed 133.35 mm (5.25 in.) 6.8 mm...

  • Page 26: Installation For Adept Viper And Cobra S850 Robots

    Installation for Adept Viper and Cobra s850 Robots Overview The PA-4 CAT-3 includes AC-DC power conversion electronics that support 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.

  • Page 27: Figure 3-1. Adept Pa-4 Power Chassis With Sdai Module (Viper S650/S850 Robots)

    Chapter 3 - Installation for Adept Viper and Cobra s850 Robots J Amp J Amp J Amp sDAI Module J-AMP J-AMP J-AMP CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED...

  • Page 28: Figure 3-2. Adept Pa-4 Power Chassis With Sdai Module (Cobra S850 Robots)

    Overview L Amp L Amp Blank sDAI Module L-AMP L-AMP CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED STATUS IS COMPLETELY DISTINGUISHED...

  • Page 29: Figure 3-3. Adept Pa-4 Power Chassis With Sdai 100W Module (Viper S1300 Robots)

    Chapter 3 - Installation for Adept Viper and Cobra s850 Robots K-Amp K-Amp J-Amp sDAI Module (100 W) K-AMP K-AMP J-AMP Brake Release CAUTION HIGH VOLTAGE INSIDE Status Panel DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED...

  • Page 30: Figure 3-4. Adept Pa-4 Power Chassis With Sdai Hp Module (Viper S1700 Robots)

    Overview H-Amp I-Amp H-Amp sDAI Module (HP) H-AMP I-AMP H-AMP Brake Release CAUTION HIGH VOLTAGE INSIDE Status Panel DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED STATUS...

  • Page 31: H, I, J, K, And L Amplifier Modules

    Chapter 3 - Installation for Adept Viper and Cobra s850 Robots H, I, J, K, and L Amplifier Modules The H and I Amplifier modules are “dual” (dual-channel) plug-in modules that contain the circuitry and amplifying components for driving two of the motors in an Adept Viper s1700 robot.

  • Page 32: Figure 3-5. J Amplifier Module Connectors And Indicators

    H, I, J, K, and L Amplifier Modules 1. Status s. The left column of s is for the first motor controlled by this module; the right column is for the second motor J-AMP controlled by this module. When an LED is turned on, it indicates the following conditions: DO NOT REMOVE OR INSTALL THIS High Volts On indicates high voltage to the amps is turned on.

  • Page 33: Sdai Module

    Chapter 3 - Installation for Adept Viper and Cobra s850 Robots sDAI Module The Adept sDAI module is a single-slot board designed to control the motion axes on an Adept Viper robot. The sDAI connectors and indicators are described in Figure 3-6.
  • Page 34 sDAI Module Table 3-2. sDAI Status Panel Codes Status Code Status Code No Fault High Temp Amp (Joint #) High Power ON Status High Temp Encoder (Joint #) Manual Mode High Voltage Bus Fault 24 V Supply Fault Initialization Stage (Step #) Amp Fault (Joint #) Motor Stalled (Joint #) IO Blox Fault (Address #)

  • Page 35: Pa-4 Connectors

    Chapter 3 - Installation for Adept Viper and Cobra s850 Robots PA-4 Connectors The connectors on the PA-4 EMC box are described below. Arm Power/Signal Connector The circular Arm Power/Signal connector on the PA-4 shipped with Viper s650/s850, Viper s1300, and Cobra s850 systems carries all the motor power and encoder feedback connections between the controller and the robot.

  • Page 36: Removing The Interface Box

    Removing the Interface Box The mating connector is supplied in the accessory kit. Adept part number: 05180-000, PLUG, MALE, 4P, MICRO (M12), M12X1 THREAD Third party vendors for the mating connector: • Lumberg, part #: RSC 4/9 • Mencom, part #: MDC-4MP-FWX NOTE: The PA-4 in Viper s1700 systems does not have an External Brake connector.
  • Page 37 Chapter 3 - Installation for Adept Viper and Cobra s850 Robots Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 38: Installation For Adeptsix Robots

    Installation for AdeptSix Robots Overview The Adept PA-4 CAT-3 power chassis, part number 01044-000, is an upgraded replacement for the Adept PA-4. The PA-4 CAT-3 includes AC-DC power conversion electronics that support 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 sMAI (smart Multi-Axis Interface) module, meet the Category-3 E-Stop requirements per EN-954.

  • Page 39: Figure 4-1. Adept Pa-4 Power Chassis With Smai Module

    Chapter 4 - Installation for AdeptSix Robots Dual E Amp #1 Dual E Amp #2 Dual E Amp #3 sMAI Module DUAL E AMP DUAL E AMP DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NO MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED...

  • Page 40: E, F, And G Amplifier Modules

    E, F, and G Amplifier Modules E, F, and G Amplifier Modules The E, F, and G Amplifier modules are “dual” (dual-channel) plug-in modules that con- tain the circuitry and amplifying components for driving two of the motors in an AdeptSix robot.

  • Page 41: Smai Module

    Chapter 4 - Installation for AdeptSix Robots sMAI Module The Adept sMAI module is a single-slot board designed to control the motion axes on an AdeptSix robot. The sMAI connectors and indicators are described in Figure 4-3. 1. Brake connector: connects to the optional brake release box. The brake release box is used to release the robot brakes manually via a selector switch for each axis.
  • Page 42 sMAI Module Table 4-2. sMAI Status Panel Codes Status Code Status Code No Fault High Temp Amp (Joint #) High Power ON Status High Temp Encoder (Joint #) Manual Mode High Voltage Bus Fault 24 V Supply Fault Initialization Stage (Step #) Amp Fault (Joint #) Motor Stalled (Joint #) IO Blox Fault (Address #)
  • Page 43 Chapter 4 - Installation for AdeptSix Robots Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Installation For Adeptone Robots

    Installation for AdeptOne Robots Overview The PA-4 includes AC-DC power conversion electronics that support a range of Adept power amplifiers and robot control modules. The PA-4 is configured with A and B+ Amplifier modules to support the AdeptOne robot systems. A AMP A AMP CAUTION...

  • Page 45: A Amplifier Modules

    Chapter 5 - Installation for AdeptOne Robots A Amplifier Modules The A Amplifier module is a plug-in module that contains the circuitry and amplifying components to drive the Joint-1 or Joint-2 motor in an AdeptOne robot. In a typical robot system, there are two A Amplifier modules in the Adept PA-4 power chassis: A Amp #1 on the far left and A Amp #2 to the right of A Amp #1.

  • Page 46: B+ Amplifier Module

    B+ Amplifier Module B+ Amplifier Module The B+ amplifier module is a “dual” (dual-channel) plug-in module that contains the circuitry and amplifying components to drive two robot motors. In a typical Adept robot system, there is one B+ amplifier module in the Adept PA-4 power chassis. The B+ amp module is located to the right of the A amp modules.

  • Page 47: Seji Amplifier Module

    Chapter 5 - Installation for AdeptOne Robots sEJI Amplifier Module The amplifiers in the AdeptOne robot system are controlled by an sEJI (Smart Enhanced Joint Interface) distributed-control module. The sEJI 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.

  • Page 48: Maintenance

    Maintenance Adept PA-4 Air Filter Inspection and Cleaning The air filter, located on the front of the chassis, should be inspected regularly and cleaned at the first sign of dust or dirt buildup. The filter must be inspected and cleaned at least once per month.

  • Page 49: Power Chassis Circuit Breaker And Fuse Information

    Chapter 6 - Maintenance PA-4 Power Chassis Circuit Breaker and Fuse Information Chassis Circuit Breaker The power chassis circuit breaker is rated at 15 A, and is located on the lower-left front of the chassis, on the power entry module. It also functions as an on/off switch to isolate the chassis.

  • Page 50: Removing Amplifier Modules

    Removing and Installing Amplifier and Control Modules WARNING: Do not attempt to install or remove any amplifier modules without first turning off the power to the power chassis and all related external power supplies. Failure to observe this warning could cause injury or damage to your equipment.

  • Page 51: Pa-4 Cat-3 Power Chassis Led Functions

    Chapter 6 - Maintenance PA-4 CAT-3 Power Chassis LED Functions The labels on the lower-right corner of the front of the power chassis are for diagnostic s that can be viewed through the front grill. The functions for these LEDs are shown in Table 6-1.

  • Page 52: Changing The Power Chassis Voltage Setting

    PA-4 CAT-3 Power Chassis LED Functions Changing the Power Chassis Voltage Setting This section covers changing the voltage selection for systems that need a different voltage setting for the PA-4 power chassis. Changing From 380-415 VAC to 200-240 VAC Complete the following procedure to change the AC voltage setting from 3-phase 380-415 to 3-phase 200-240 .

  • Page 53: Part 2 - Rotating The Voltage Selector In The Power Chassis

    Chapter 6 - Maintenance power cord from 19 mm (3/4 inch) power chassis shrink tubing blue wire 7 mm (1/4 inch) shrink tubing Figure 6-2. Insulating Blue Wire in Power Cord (200-240 VAC) Part 2 – Rotating the Voltage Selector in the Power Chassis 1.

  • Page 54: Changing From 200-240 Vac To 380-415 Vac

    PA-4 CAT-3 Power Chassis LED Functions Changing From 200-240 VAC to 380-415 VAC To change the AC voltage setting from 3-phase 200-240 to 3-phase 380-415 follow the two-part procedure below. DANGER: Electrical hazard! Changing the voltage setting in the power chassis must be done by a trained, authorized person.

  • Page 55: Figure 6-4. Removing Insulation From Blue Wire In Power Cord (380-415 Vac)

    Chapter 6 - Maintenance power cord from 19 mm (3/4 inch) power chassis shrink tubing blue wire Figure 6-4. Removing Insulation from Blue Wire in Power Cord (380-415 VAC) Adept PA-4 Power Chassis User’s Guide, Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Index

    Index PA-4 power chassis Document Library CD-ROM 13, A amplifier module connections/indications functions overview E amplifier modules Adept Document Library connections/indicators Adept Viper robots 25–33 functions in AdeptSix robots EN 60204 AdeptOne robots 43–46 Environmental requirements AdeptSix robots 37–41 amp assignments External brake connector Air filter, cleaning mating connector...
  • Page 57 Index 380-415 VAC Interface box PA-4 CAT-3 location on PA-4 26, compatibility information for plug-in removing modules identification methods LED functions product ID label J amplifier module PA-4 power chassis connections/indicators air filter inspection and cleaning functions changing voltage setting (From 200-240 overview VAC to 380-415 VAC) changing voltage setting (From 380-415...
  • Page 58 Index sources for information sDAI module connections/indicators overview sDAI module, status panel codes 33, sEJI module connections/indicators functions overview sMAI module compatibility information connections/indicators overview Sources for international standards and directives Space around the chassis Status LEDs A amps B+ amps E amps F amps G amps...
  • Page 59 Index Adept PA-4 Power Chassis User’s Guide Rev E Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 60 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 61 3011 Triad Drive Livermore, CA 94551 925•245•3400 P/N: 02725-000, Rev F Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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