Adept technology Adept XUSR Guida Utente Scaricare il pdf (Pagina 15)

Product Description

Adept Quattro s650H Robot User’s Guide, Rev A 15

Figure 1-3. Adept AIB

Inner Arms

The four robot motors attach directly to the inner arms through a high-performance gear

reducer. Other than optional, user-supplied hardware mounted on the platform, these are

the only drive motors in the Quattro. Figure 1-4 shows a precision carbon fiber assembly

of an inner arm. The RIA-compliant hard stops limit the inner arm motion to -52° and

+124°.

Figure 1-4. Robot Inner Arm

1 2 ... 10 11 12 13 14 15 16 17 18 19 20 ... 125 126

Adept Quattro 1
Table of Contents 5
List of Figures 11
Introduction 1 13
Quattro Robot Base 14
Adept AIB 14
Inner Arms 15
Ball Joints, Outer Arms 16
Platform 16
° platform is 9.78 mm 17
° Platform, Top View 18
° Platform, Bottom View 18
1.2 Installation Overview 20
1.4 How Can I Get Help? 21
Related Manuals 22
Adept Document Library 22
Safety 2 23
Safety Barriers 24
Impact and Trapping Points 25
Emergency Recovery Procedures 25
Chapter 2 - Safety 26
2.4 Risk Assessment 27
2.6 Robot Modifications 30
2.7 Transport 31
2.9 Sound Emissions 31
2.10 Thermal Hazard 32
2.11 Working Areas 32
Robot Installation 3 35
3.3 Repacking for Relocation 37
3.5 Mounting Frame 38
Frame Orientation 39
Frame Construction 39
Robot-to-Frame Considerations 39
3.6 Mounting the Robot Base 40
Robot Orientation 41
Mounting Surfaces 41
Mounting Options 41
Install Mounting Hardware 44
Attaching the Outer Arms 46
4.1 System Cable Diagram 51
4.2 Cable Parts List 52
Installing 24 VDC Robot Cable 56
Specifications for AC Power 57
IEC 1131-2 58
IEC 1131-4 for additional 58
200–240 VAC 59
System Operation 5 63
5.2 Status Panel Fault Codes 64
Brake Release Button 65
SmartController CX 66
Optional I/O Products 69
XIO Input Signals 69
Adept-Supplied Equipment 70
User-Supplied Equipment 70
XIO Output Signals 71
XIO Breakout Cable 72
5.6 Commissioning the System 73
Verifying Installation 74
System Start-up Procedure 75
5.7 Quattro Motions 76
Containment Obstacles 77
Tool Flange Rotation Extremes 77
° platforms) are 77
Optional Equipment 81
Installation 6 81
7.1 Dimension Drawings 83
Units are mm 84
Dimension Drawings 85
Figure 7-5. Arm Travel Volume 86
Quattro AIB 87
Internal Connections 87
Quattro XSLV 87
Panel Connections 87
7.3 XSLV Connector 88
7.4 Robot Specifications 89
7.5 Platform Specifications 90
7.6 Robot Mounting Frame 90
UNLESS OTHERWISE SPECIFIED: 92
Robot Mounting Frame 93
Maintenance 8 95
8.2 Checking Safety Systems 97
8.5 Checking Fan Operation 98
8.6 Replacing the AIB Chassis 99
Securing Screw on AIB Chassis 100
Securing Screw on AIB 100
Installing a New AIB Chassis 102
Battery Replacement Interval 103
Battery Replacement Procedure 103
8.8 Replacing a Platform 105
°±60° 09023-000 QP09023.SPC 106
Configuration 106
°±185° 09068-000 QP09068.SPC 106
Robot Cleaning/ 109
Environmental 109
Concerns 9 109
9.2 Cleaning 110
9.3 Cleanroom Classification 111
9.4 Design Factors 112
9.5 Installing Cable Seal Kit 113
Installation Procedure 114
Numerics 119
3011 Triad Drive 126
Livermore, CA 94551 126
925·245·3400 126

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