adept technology 550 Instruction Handbook Manual page 15

Table of Contents
Figure 1-1 Adept 550 Robot with Joint Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1-2 Adept MV-8 Controller and PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1-3 Robot Impact and Trapping Point Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 2-1 Adept 550 Robot on a Transportation Pallet . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 2-2 Mounting Hole Pattern (Robot-to-Mounting Surface) . . . . . . . . . . . . . . . . . . . 20
Figure 2-3 Joining the Power Chassis and Controller at the Top . . . . . . . . . . . . . . . . . . . 22
Figure 2-4 Joining the Power Chassis and Controller at the Bottom . . . . . . . . . . . . . . . . 23
Figure 2-5 Installing Mounting Brackets on an Adept MV Controller . . . . . . . . . . . . . . . . 25
Figure 2-6 Installing Mounting Brackets on an Adept PA-4 Power Chassis . . . . . . . . . . . 26
Figure 2-7 Connecting the A-Series Monitor and Keyboard. . . . . . . . . . . . . . . . . . . . . . . 27
Figure 2-8 External Front Panel (VFP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 2-9 External VME Front Panel Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 2-10 Adept 550 Robot System Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 2-11 Adept 550 Robot Rear Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 2-12 Robot-to-VJI Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 2-13 Power Chassis to VJI Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 2-14 MCP Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 2-15 Adept MV Controller Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 2-16 Typical 380-415 V AC Connection for Category 1 System . . . . . . . . . . . . . . . 41
Figure 2-17 Typical 3-Phase 200-240 V AC Connection for Category 1 System . . . . . . . . 41
Figure 2-18 Insulating Blue Wire in Power Cord. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure 2-19 Changing Voltage in Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 2-20 User Flange Removal Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 3-1 Digital I/O Connector Pin Locations on SIO Module . . . . . . . . . . . . . . . . . . . . 56
Figure 3-2 E-Stop Diagram with VFP and MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Figure 3-3 E-Stop Circuitry with Additional Safety Equipment . . . . . . . . . . . . . . . . . . . . . 58
Figure 4-1 Holding the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 4-2 MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Figure 4-3 Command (CMD) Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Figure 4-4 Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 4-5 Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 4-6 Joint State (SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Figure 5-1 Lubrication of Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Figure 5-2 Location of Access Cover on Underside of Outer Link . . . . . . . . . . . . . . . . . . 76
Figure 5-3 Location of Joint 3 and Joint 4 Drive Belts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Figure 5-4 Close-up View of Joint 3 Brake Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Figure 6-1 Adept 550 Robot Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 6-2 User Flange Dimensions for Adept 550 Robot. . . . . . . . . . . . . . . . . . . . . . . . . . 83
xii Adept 550 Robot Instruction Handbook, Rev A
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