Adept technology Adept XUSR Guida Utente

Adept Quattros650H RobotUser’s Guide

Chapter 8 - Maintenance100 Adept Quattro s650H Robot User’s Guide, Rev A9. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See t

Replacing the AIB ChassisAdept Quattro s650H Robot User’s Guide, Rev A 10112. Disconnect the white amplifier cable (motor power) from the amplifier c

Chapter 8 - Maintenance102 Adept Quattro s650H Robot User’s Guide, Rev AInstalling a New AIB ChassisHarness Connections1. Carefully remove the new cha

Replacing the Encoder BatteryAdept Quattro s650H Robot User’s Guide, Rev A 103• Check the Status Display fault code. This should be either OK or ON.

Chapter 8 - Maintenance104 Adept Quattro s650H Robot User’s Guide, Rev A8. Remove the four hex-head screws holding the Status Display panel.See the fo

Replacing a PlatformAdept Quattro s650H Robot User’s Guide, Rev A 10511. Connect the new battery to the unused connector on the battery bracket, but

Chapter 8 - Maintenance106 Adept Quattro s650H Robot User’s Guide, Rev A• Take care not to trap debris between the balls and their sockets.Configurati

Replacing a PlatformAdept Quattro s650H Robot User’s Guide, Rev A 107Figure 8-7. SPEC Utility Load Function3. Enter the disk file specification for t

Chapter 8 - Maintenance108 Adept Quattro s650H Robot User’s Guide, Rev ATo use the Save ALL specifications to system disk option:1. Select the Save AL

Adept Quattro s650H Robot User’s Guide, Rev A 109Robot Cleaning/EnvironmentalConcerns 9This chapter applies to the Adept Quattro s650H robot, not to t

Adept Quattro s650H Robot User’s Guide, Rev A 11List of FiguresFigure 1-1. Adept Quattro s650H Robot . . . . . . . . . . . . . . . . . . . . . . .

Chapter 9 - Robot Cleaning/ Environmental Concerns110 Adept Quattro s650H Robot User’s Guide, Rev ATemperatureThe Adept Quattro s650H robot is designe

Adept Quattro s650H Robot Design FactorsAdept Quattro s650H Robot User’s Guide, Rev A 111Figure 9-2. Joint, Between AIB and Base, to be CaulkedWater

Chapter 9 - Robot Cleaning/ Environmental Concerns112 Adept Quattro s650H Robot User’s Guide, Rev A9.4 Design FactorsEnvironmental and cleaning aspect

Adept Quattro s650H Robot Design FactorsAdept Quattro s650H Robot User’s Guide, Rev A 113Outer ArmsThe outer arms are a composite assembly of anodize

Chapter 9 - Robot Cleaning/ Environmental Concerns114 Adept Quattro s650H Robot User’s Guide, Rev ATasks1. Measure and mark cables to establish servic

Adept Quattro s650H Robot Design FactorsAdept Quattro s650H Robot User’s Guide, Rev A 115Figure 9-4. Cable Entry Top Cover AssemblyFigure 9-5. Bottom

Chapter 9 - Robot Cleaning/ Environmental Concerns116 Adept Quattro s650H Robot User’s Guide, Rev A4. Grease the Roxtec modules, using Roxtec grease.

Adept Quattro s650H Robot Design FactorsAdept Quattro s650H Robot User’s Guide, Rev A 117Figure 9-10. Cable Entry Assembly with Cables8. Attach the g

Chapter 9 - Robot Cleaning/ Environmental Concerns118 Adept Quattro s650H Robot User’s Guide, Rev A10. Attach the cable entry top cover, with Roxtec f

Adept Quattro s650H Robot User’s Guide, Rev A 119Numerics1394 cable, IEEE 52–54200-240 VAC cable, creating 59200-240 VAC connector 5324 VDC cablecreat

List of Figures12 Adept Quattro s650H Robot User’s Guide, Rev AFigure 7-3. Tool Flange Dimensions, 60° Platform . . . . . . . . . . . . . . . . .

Index120 Adept Quattro s650H Robot User’s Guide, Rev ACcablecreating 200-240 VAC 59creating 24 VDC 55diagram for system 51front panel 52IEEE 1394 52–5

IndexAdept Quattro s650H Robot User’s Guide, Rev A 121equipmentgrounding, robot-mounted 60installing user-supplied safety 61safety 33safety requiremen

Index122 Adept Quattro s650H Robot User’s Guide, Rev Amodifications 30acceptable 30unacceptable 30mountingabove the frame 41below the frame 43bolts 44

IndexAdept Quattro s650H Robot User’s Guide, Rev A 123robotbase 14components 14, 45description 13dimensions 83–86installation 35intended uses 29modifi

Index124 Adept Quattro s650H Robot User’s Guide, Rev AUunacceptable modifications 30unauthorized operation, protection against 33unpacking 35user cabl

adepttechnology, inc.3011 Triad DriveLivermore, CA 94551925·245·3400P/N: 09313-000, Rev A

Adept Quattro s650H Robot User’s Guide, Rev A 13Introduction 11.1 Product DescriptionAdept Quattro s650H RobotThe Adept Quattro s650H robot is a four-

Chapter 1 - Introduction14 Adept Quattro s650H Robot User’s Guide, Rev AFigure 1-2. Major Robot Components, Isometric ViewQuattro Robot BaseThe Adept

Product DescriptionAdept Quattro s650H Robot User’s Guide, Rev A 15Figure 1-3. Adept AIBInner ArmsThe four robot motors attach directly to the inner

Chapter 1 - Introduction16 Adept Quattro s650H Robot User’s Guide, Rev ABall Joints, Outer ArmsThe inner arm motion is transmitted to the platform thr

Product DescriptionAdept Quattro s650H Robot User’s Guide, Rev A 17The 185° platform (P/N 09068-000) has a rotation range of ±185°, achieved with a g

Chapter 1 - Introduction18 Adept Quattro s650H Robot User’s Guide, Rev AFigure 1-6. 185° Platform, Top ViewFigure 1-7. 185° Platform, Bottom View

Product DescriptionAdept Quattro s650H Robot User’s Guide, Rev A 19Figure 1-8. 60° Platform, Top ViewFigure 1-9. 60° Platform, Bottom ViewFor shippin

Chapter 1 - Introduction20 Adept Quattro s650H Robot User’s Guide, Rev AAdept SmartControllerThe SmartController is the foundation of Adept’s family o

Manufacturer’s DeclarationAdept Quattro s650H Robot User’s Guide, Rev A 211.3 Manufacturer’s DeclarationThe Manufacturer's Declaration of Incorp

Chapter 1 - Introduction22 Adept Quattro s650H Robot User’s Guide, Rev ARelated ManualsThis manual covers the installation, operation, and maintenance

Adept Quattro s650H Robot User’s Guide, Rev A 23Safety 22.1 Warnings, Cautions, and Notes in ManualThere are six levels of special alert notation used

Chapter 2 - Safety24 Adept Quattro s650H Robot User’s Guide, Rev A2.2 Warning Labels on the RobotThe following figure shows the warning labels on the

Precautions and Required SafeguardsAdept Quattro s650H Robot User’s Guide, Rev A 25Impact and Trapping Points Adept robots are capable of moving at h

Chapter 2 - Safety26 Adept Quattro s650H Robot User’s Guide, Rev ATable 2-1. Sources for International Standards and DirectivesSEMI International Stan

Risk AssessmentAdept Quattro s650H Robot User’s Guide, Rev A 272.4 Risk Assessment Without special safeguards in its control system, the Adept Quattr

Chapter 2 - Safety28 Adept Quattro s650H Robot User’s Guide, Rev AThe E-Stop circuit is Dual Channel (redundant, diverse, and control reliable).See F

Intended Use of the RobotsAdept Quattro s650H Robot User’s Guide, Rev A 29The standard control system is fully hardened to all EMI influences per the

Adept Quattros650H RobotUser’s GuideP/N: 09313-000, Rev AOctober, 20083011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.

Chapter 2 - Safety30 Adept Quattro s650H Robot User’s Guide, Rev A2.6 Robot ModificationsIt is sometimes necessary to modify the robot in order to suc

TransportAdept Quattro s650H Robot User’s Guide, Rev A 312.7 TransportAlways use adequate equipment to transport and lift Adept products. See Chapter

Chapter 2 - Safety32 Adept Quattro s650H Robot User’s Guide, Rev A2.10 Thermal Hazard2.11 Working AreasAdept robots have a Manual and an Automatic (AU

Safety Equipment for OperatorsAdept Quattro s650H Robot User’s Guide, Rev A 33All personnel must observe good safety practices during the installatio

Chapter 2 - Safety34 Adept Quattro s650H Robot User’s Guide, Rev A2.16 Risks Due to Incorrect Installation or OperationTake precautions to ensure that

Adept Quattro s650H Robot User’s Guide, Rev A 35Robot Installation 33.1 Transport and StorageThis equipment must be shipped and stored in a temperatur

Chapter 3 - Robot Installation36 Adept Quattro s650H Robot User’s Guide, Rev AFigure 3-1. Quattro Shipping CrateThe robot base is shipped with the inn

Repacking for RelocationAdept Quattro s650H Robot User’s Guide, Rev A 37Upon UnpackingBefore signing the carrier’s delivery sheet, compare the actual

Chapter 3 - Robot Installation38 Adept Quattro s650H Robot User’s Guide, Rev A3.5 Mounting FrameOverviewThe Adept Quattro s650H robot is designed to b

Mounting FrameAdept Quattro s650H Robot User’s Guide, Rev A 39NOTE: More specifications for the sample frame are provided in Section 7.6.Any robot’s

The information contained herein is the property of Adept Technology, Inc., and shall not be repro-duced in whole or in part without prior written app

Chapter 3 - Robot Installation40 Adept Quattro s650H Robot User’s Guide, Rev Amounting members, but not the entire frame assembly. Alternate designs s

Mounting the Robot BaseAdept Quattro s650H Robot User’s Guide, Rev A 41Robot OrientationAdept recommends mounting the Adept Quattro s650H robot so th

Chapter 3 - Robot Installation42 Adept Quattro s650H Robot User’s Guide, Rev A2. Screw the M16 eyebolts into opposing robot mounting pads, so that the

Mounting the Robot BaseAdept Quattro s650H Robot User’s Guide, Rev A 434. Slowly lower the robot while rotating it slightly, so that the four mountin

Chapter 3 - Robot Installation44 Adept Quattro s650H Robot User’s Guide, Rev AInstall Mounting HardwareNOTE: When mounting the robot, note the followi

Attaching the Outer Arms and PlatformAdept Quattro s650H Robot User’s Guide, Rev A 453.7 Attaching the Outer Arms and PlatformFigure 3-5. Major Robot

Chapter 3 - Robot Installation46 Adept Quattro s650H Robot User’s Guide, Rev AFigure 3-6. Platform Orientation LabelingNOTE: The labeling on both plat

Attaching the Outer Arms and PlatformAdept Quattro s650H Robot User’s Guide, Rev A 47Figure 3-7. Inner Arm Ball StudsFigure 3-8. Ball Joint AssemblyI

Chapter 3 - Robot Installation48 Adept Quattro s650H Robot User’s Guide, Rev AFigure 3-9. Installing Ball JointsNOTE: In the following steps, take car

Attaching the Outer Arms and PlatformAdept Quattro s650H Robot User’s Guide, Rev A 49c. Move the platform and outer arm pair to the left as you slip

Adept Quattro s650H Robot User’s Guide, Rev A 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adept Quattro s650H Robot User’s Guide, Rev A 51System Installation 44.1 System Cable Diagram Figure 4-1. System Cable DiagramNOTE: See “Installing 24

Chapter 4 - System Installation52 Adept Quattro s650H Robot User’s Guide, Rev A4.2 Cable Parts List4.3 Installing the SmartController Refer to the Ade

Description of Connectors on Robot Interface PanelAdept Quattro s650H Robot User’s Guide, Rev A 534.4 Description of Connectors on Robot Interface Pa

Chapter 4 - System Installation54 Adept Quattro s650H Robot User’s Guide, Rev A4.5 Cable Connections from Robot to SmartController1. Locate the IEEE 1

Connecting 24 VDC Power to RobotAdept Quattro s650H Robot User’s Guide, Rev A 55Details for 24 VDC Mating Connector The 24 VDC mating connector and t

Chapter 4 - System Installation56 Adept Quattro s650H Robot User’s Guide, Rev ANOTE: A separate 24 VDC cable is required for the SmartController. That

Connecting 200-240 VAC Power to RobotAdept Quattro s650H Robot User’s Guide, Rev A 57NOTE: To comply with EN standards, Adept recommends that DC powe

Chapter 4 - System Installation58 Adept Quattro s650H Robot User’s Guide, Rev AFacility Overvoltage ProtectionThe robot must be protected from excessi

Connecting 200-240 VAC Power to RobotAdept Quattro s650H Robot User’s Guide, Rev A 59Figure 4-5. Single-Phase AC Power Installation from a Three-Phas

Table of Contents6 Adept Quattro s650H Robot User’s Guide, Rev A2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 - System Installation60 Adept Quattro s650H Robot User’s Guide, Rev A8. Tighten the screws on the cable clamp.9. Reinstall the cover and tig

Installing User-Supplied Safety EquipmentAdept Quattro s650H Robot User’s Guide, Rev A 61If hazardous voltages are present at any user-supplied robot

Adept Quattro s650H Robot User’s Guide, Rev A 63System Operation 55.1 Robot Status Display Panel The robot Status Display panel is located on the robo

Chapter 5 - System Operation64 Adept Quattro s650H Robot User’s Guide, Rev A5.2 Status Panel Fault CodesThe Status Display, shown in Figure 5-1, displ

Connecting Digital I/O to the SystemAdept Quattro s650H Robot User’s Guide, Rev A 65In addition, the motors have electromechanical brakes. The brakes

Chapter 5 - System Operation66 Adept Quattro s650H Robot User’s Guide, Rev AFigure 5-2. Connecting Digital I/O to the SystemTable 5-4. Default Digital

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650H Robot User’s Guide, Rev A 675.5 Using Digital I/O on Robot XIO Connector The XIO connecto

Chapter 5 - System Operation68 Adept Quattro s650H Robot User’s Guide, Rev ATable 5-5. XIO Signal Designations Pin No. DesignationSignal BankV+ Signal

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650H Robot User’s Guide, Rev A 69Optional I/O ProductsThese optional products are also availab

Table of ContentsAdept Quattro s650H Robot User’s Guide, Rev A 74.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 - System Operation70 Adept Quattro s650H Robot User’s Guide, Rev ATypical Input Wiring ExampleFigure 5-3. Typical User Wiring for XIO Input

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650H Robot User’s Guide, Rev A 71XIO Output SignalsThe eight digital outputs share a common, h

Chapter 5 - System Operation72 Adept Quattro s650H Robot User’s Guide, Rev ATypical Output Wiring ExampleFigure 5-4. Typical User Wiring for XIO Outpu

Commissioning the SystemAdept Quattro s650H Robot User’s Guide, Rev A 735.6 Commissioning the System Turning on the robot system for the first time i

Chapter 5 - System Operation74 Adept Quattro s650H Robot User’s Guide, Rev AVerifying Installation Verifying that the system is correctly installed an

Commissioning the SystemAdept Quattro s650H Robot User’s Guide, Rev A 75System Start-up Procedure Once the system installation has been verified, you

Chapter 5 - System Operation76 Adept Quattro s650H Robot User’s Guide, Rev A9. If you do not hear a click in the previous step, you must explicitly ca

Quattro MotionsAdept Quattro s650H Robot User’s Guide, Rev A 77Containment ObstaclesThe work space of the robot is defined by an inclusion obstacle.

Chapter 5 - System Operation78 Adept Quattro s650H Robot User’s Guide, Rev AFigure 5-7. 185° Platform Ambiguity ZonesAs examples:• With the roll start

Learning to Program the Adept Quattro RobotAdept Quattro s650H Robot User’s Guide, Rev A 79• With the roll initially at +170°, a motion to roll value

Table of Contents8 Adept Quattro s650H Robot User’s Guide, Rev A6 Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . .

Adept Quattro s650H Robot User’s Guide, Rev A 81Optional EquipmentInstallation 66.1 End-EffectorsYou are responsible for providing and installing any

Chapter 6 - Optional Equipment Installation82 Adept Quattro s650H Robot User’s Guide, Rev A6.2 Routing End-effector LinesEnd-effector lines (either va

Adept Quattro s650H Robot User’s Guide, Rev A 83Technical Specifications 77.1 Dimension Drawings Figure 7-1. Top Dimensions, Work Envelope, and Mounti

Chapter 7 - Technical Specifications84 Adept Quattro s650H Robot User’s Guide, Rev ANOTE: The 60° platform flange is 27.1 mm higher, in Z, than the pr

Dimension DrawingsAdept Quattro s650H Robot User’s Guide, Rev A 85Figure 7-3. Tool Flange Dimensions, 60° PlatformFigure 7-4. Tool Flange Dimensions,

Chapter 7 - Technical Specifications86 Adept Quattro s650H Robot User’s Guide, Rev AFigure 7-5. Arm Travel Volume66.0417°50°132.1055°241.30171.27113.1

Adept Quattro s650H Robot Internal ConnectionsAdept Quattro s650H Robot User’s Guide, Rev A 877.2 Adept Quattro s650H Robot Internal ConnectionsFigur

Chapter 7 - Technical Specifications88 Adept Quattro s650H Robot User’s Guide, Rev A7.3 XSLV ConnectorTable 7-1. XSLV Connector PinoutPin # Descriptio

Robot SpecificationsAdept Quattro s650H Robot User’s Guide, Rev A 897.4 Robot Specifications Specifications subject to change without notice.Table 7-

Table of ContentsAdept Quattro s650H Robot User’s Guide, Rev A 99 Robot Cleaning/ Environmental Concerns . . . . . . . . . . . . . . . . . . . . . 10

Chapter 7 - Technical Specifications90 Adept Quattro s650H Robot User’s Guide, Rev A7.5 Platform SpecificationsTorque and Rotation LimitsPayload Inert

Robot Mounting FrameAdept Quattro s650H Robot User’s Guide, Rev A 91• Wn (Twist) > 45 Hz.• Mounting surfaces for the robot flanges must be within

Chapter 7 - Technical Specifications92 Adept Quattro s650H Robot User’s Guide, Rev AFigure 7-8. Mounting Frame, Side View 1Figure 7-9. Mounting Frame,

Robot Mounting FrameAdept Quattro s650H Robot User’s Guide, Rev A 93Figure 7-10. Mounting Frame, Detail 1Figure 7-11. Mounting Frame, Detail 2300.046

Chapter 7 - Technical Specifications94 Adept Quattro s650H Robot User’s Guide, Rev AFigure 7-12. Mounting Frame, Top View430.0520.0520.0520.0520.0290.

Adept Quattro s650H Robot User’s Guide, Rev A 95Maintenance 8Maintenance of user-added optional equipment is the user’s responsibility. It is not cove

Chapter 8 - Maintenance96 Adept Quattro s650H Robot User’s Guide, Rev ATable 8-2. Suggested Part ReplacementInspect Robot Fans & Geardrives3 Month

Checking Safety SystemsAdept Quattro s650H Robot User’s Guide, Rev A 978.2 Checking Safety SystemsThese tests should be done every six months.NOTE: O

Chapter 8 - Maintenance98 Adept Quattro s650H Robot User’s Guide, Rev A8.3 Checking Robot Mounting BoltsCheck the tightness of the base mounting bolts

Replacing the AIB ChassisAdept Quattro s650H Robot User’s Guide, Rev A 998.6 Replacing the AIB ChassisThis section gives instructions on how to repla