Installation For Adept Viper And Cobra S850 Robots; Overview - adept technology PA-4 Series User Manual

Installation for Adept Viper
and Cobra s850 Robots
3.1

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. The PA-4 is configured with the following
amplifier modules to support the Adept Viper robot systems listed below.
• Viper s1700: H and I amps
• Viper s1300: J and K amps
• Viper s650/s850: J amps
• Cobra s850: L amps
The amplifiers in the Adept Viper robot system are controlled by an 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, also called "FireWire
NOTE: The Adept Viper s650/s850 and Cobra s850 robots use the
standard sDAI. The Adept Viper s1300 robot uses the 100W version of the
sDAI. The Adept Viper s1700 robot uses the HP version of the sDAI.
Adept PA-4 Power Chassis User's Guide, Rev E
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