Adept Python User Manual

Adept Python

Modules

User’s Guide

Adept Python

Modules

User’s Guide

P/N:05850-000, Rev. E

August, 2009

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Printed in the United States of America

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Adept Python Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

MotionBlox-10 Servo Controller and Amplifier . . . . . . . . . . . . . . . . . . . . . . . 15

Special and Custom Orders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Power Distribution Unit (PDU3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.2 Overview of Typical System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Installing Adept Python Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Installing Peripherals and Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Turning On the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.3 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.5 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		23
2.1	Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	23
2.2	Intended Use of the Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	24
2.3	Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
	Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
	Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
	Avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	26
	Control System Behavior Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	26
2.4	Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	27
	Maximum Thrust . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	27
	Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	28
	Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	28
	Hazards From Expelling a Part or Attached Tooling . . . . . . . . . . . .	28
	Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	29
2.5	Equipment Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
	Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
	Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
2.6	Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	31
	Encoder Battery Life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	31
2.7	Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . .	31

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2.8 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.9 Thermal Hazard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.10 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.11 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.12 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.13 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.14 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . . 34 2.15 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.16 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 34 2.17 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3 Python Linear Module Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.1 Adept Python Linear Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Single-Axis and Multiple-Axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.2 Linear Module Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

L-Series Module Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Payloads and Moments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Stroke Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Ball Screw Lead . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Resolution and Repeatability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Thrust. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Motor Mount Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Harness Exit Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Module Preparation (Assembly) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Cleanroom Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Module Descriptor Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

L18 Module Descriptor Number Example and Key . . . . . . . . . . . . . 52

L12 Module Options and Descriptor Number Key . . . . . . . . . . . . . 55

L08 Module Options and Descriptor Number Key . . . . . . . . . . . . . . 57

3.3 Gantry Support Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Gantry Support Module Descriptor Numbers . . . . . . . . . . . . . . . . . . . . . . . . 59

4 Python Theta Module Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4.1 Adept Python Theta Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Single-Axis and Multiple-Axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 61

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4.2 Theta Module Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

L-Series Module Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Gear Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Module Preparation (Assembly). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Cleanroom Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Module Descriptor Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

LT1 Module Descriptor Number Example and Key . . . . . . . . . . . . . 64

5 Module System Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	67
5.1 System Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	67
5.2 Module System Descriptor Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	67
Module System Descriptor Number Example and Key . . . . . . . . . . . . . . . .	68
Control Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	71
5.3 System Configuration and Module Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	72
Module Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	72
Single-Axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	73
System Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	73
Single-Axis Theta Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	75
Two-Axis Configuration Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	78
D Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	78
G Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	79
K Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	80
X Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	81
Z Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	82
Three-Axis Configuration Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	83
P Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	83
Q Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	84
Four-Axis Configuration Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	85
P Configuration with Theta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	85
Q Configuration with Theta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	86
5.4 System Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	86
Single-Axis Orientations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	87
Typical Two-Axis Orientations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	87
5.5 Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	90
Mounting Feet Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	91
Toe Clamp Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	92
Mounting Feet Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	93
Toe Clamp Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	95
5.6 Cable Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	97

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5.7 Gantry Mounting Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Gantry Support Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Parallel Alignment Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Gantry Over-Travel Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.8 IO Blox. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.9 Cabling/Plumbing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

6 Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

6.1 Lifting and Transporting Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

6.2 Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Mounting Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

6.3 Installing a Python Module System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

General Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

6.4 Cleanroom System Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

7 Controller System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

7.1 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Space Around the Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Mounting the Controller Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Connect 24 VDC Power and Ground to the SmartController . . . . . . . . . 117

7.2 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 7.3 Installing the PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7.4 Installing the Adept Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7.5 Connecting the Optional T2 Pendant to the Controller . . . . . . . . . . . . . . . . . . 119 7.6 Installing the User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Using AdeptWindows PC Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Graphical Interface Using Adept DeskTop . . . . . . . . . . . . . . . . . . . . . . . . . 120

7.7 Installing Optional IO Blox Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

8 Power Distribution Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

8.1 Introduction to the PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 8.2 Installing the PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 8.3 Typical AC Power Connection Diagrams for PDU3 . . . . . . . . . . . . . . . . . . . . . 123 8.4 PDU3 Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 8.5 PDU3 Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Procedure to Remove Fuse Holder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

8.6 PDU3 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

8.7 PDU3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

8.8 PDU3 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

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8.9 PDU3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

8.10 PDU3 E-Stop Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

8.11 PDU3 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

XDCS Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

XSLV1/2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

9 Adept MB-10 Amps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

9.2 MB-10 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Indicator LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 MB-10 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 IO Blox Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 EEPROM on MB-10 T-Bracket. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

9.3 MB-10 Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

9.4 MB-10 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

9.5 MB-10 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

10 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

143

10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

10.2 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Power Checks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Cable Installation Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . . . . . . 144

10.3 Turning On Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

10.4 Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Load and Run DC_SETUP.V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

Run Module Calibration Setup Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Adaptive Feed-Forward Compensation . . . . . . . . . . . . . . . . . . . . 150

10.5 Enable High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 10.6 Run-Time Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 10.7 Turning Off Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 10.8 Operating and Programming an Adept Python Modules System . . . . . . . . 151

11 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

11.2 Checking Safety Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Every Six Months . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

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Table of Contents

11.3 Replacing the MB-10 Internal Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Battery Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

11.4 Replacing the Module Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Battery Replacement Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Battery Accessible via End Cap Removal . . . . . . . . . . . . . . . . . . . 157

Battery Not Easily Accessible, MB-10 Removal Required . . . . . . . 158

11.5 Python Module Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

11.6 Additional Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

11.7 MB-10 Decommissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

12 Advanced System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 161

12.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

10	Adept Python Modules User’s Guide, Rev. E

		List of Figures
Figure 1-1. L18		Linear Module with MB-10 Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
Figure 1-2. L12		Linear Module with MB-10 Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	16
Figure 1-3. L08		Linear Module with MB-10 Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
Figure 1-4. Three-Axis System with L18, L12, and L08 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			17
Figure 1-5. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			18
Figure 1-6. PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			19
Figure 3-1. L18		Module without Brake, Shown at End of Stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	45
Figure 3-2. L18		Module with Brake, Shown at End of Stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	45
Figure 3-3. L12		Module without Brake, Shown at End of Stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	46
Figure 3-4. L12		Module with Brake, Shown at End of Stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	46
Figure 3-5. L08		Module with Brake (Left) and without Brake (Right) . . . . . . . . . . . . . . . . . . . . . . . . . .	46
Figure 3-6. Leftand Right-Hand Orientation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			47
Figure 3-7.	L18	Module with In-line Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	48
Figure 3-8. L18		Module with Left-Side Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	48
Figure 3-9. L18		Module with Right-Side Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	49
Figure 3-10. L18 Module with Bottom-Mount Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			49
Figure 3-11.	In-Line Motor, Left Harness Exit Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		50
Figure 3-12.	In-Line Motor, Right Harness Exit Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		50
Figure 3-13. Left-Side Motor Mount, Harness Exit Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			51
Figure 3-14. Right-Side Motor Mount, Harness Exit Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			51
Figure 3-15. L18 Descriptor Number Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			52
Figure 3-16. L18 Module Descriptor Key, Part 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			53
Figure 3-17. L18 Module Descriptor Key, Part 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			54
Figure 3-18. L12 Descriptor Number Key, Part 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			55
Figure 3-19. L12 Descriptor Number Key, Part 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			56
Figure 3-20. L08 Descriptor Number Key, Part 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			57
Figure 3-21. L08 Module Descriptor Key, Part 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			58
Figure 3-22. Gantry (LG6) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			59
Figure 3-23. LG6 (Gantry) Descriptor Number Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			59
Figure 3-24. LG6 (Gantry) Descriptor Number Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			60
Figure 4-1. LT1 (Theta) Module with User Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			63
Figure 4-2. LT1 (Theta) Module with Standard Shaft/Range of Motion . . . . . . . . . . . . . . . . . . . . . . . .			64
Figure 4-3. LT1 (Theta) Module Descriptor Number Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			64
Figure 4-4. LT1 (Theta) Module Descriptor Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			65
Figure 5-1. Module System Descriptor Number Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			68
Figure 5-2. Module System Descriptor Number Key, Part 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			69
Figure 5-3. Module System Descriptor Number Key, Part 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			70
Figure 5-4. IO Blox Options in Module System Descriptor Number . . . . . . . . . . . . . . . . . . . . . . . . . . . .			71
Figure 5-5.	Three-Axis System with MB-10 Amplifiers Identified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		71
Figure 5-6. Configuration Options in Module System Descriptor Number . . . . . . . . . . . . . . . . . . . . . .			72
Figure 5-7. S2000 System with Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			73
Figure 5-8. S2000 System (with Brake) Mounted Vertically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			74

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List of Figures
Figure 5-9. LT1 (Theta) Module Envelope/Mounting Hole Dimensions (Top View) . . . . . . . . . . . . . .	. 75
Figure 5-10. LT1 (Theta) Module Envelope/Mounting Hole Dimensions (Side View) . . . . . . . . . . . .	. 76
Figure 5-11. LT1 (Theta) Module Envelope/Mounting Hole Dimensions (Bottom View) . . . . . . . . . . .	76
Figure 5-12. LT1 (Theta) Module User Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	77
Figure 5-13. D1200 System with Optional Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	78
Figure 5-14. G1200 System with Optional Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	79
Figure 5-15. K1200 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	80
Figure 5-16. X1100 System with Optional Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	81
Figure 5-17. Z1200 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	82
Figure 5-18. P Configuration (P1230 System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	83
Figure 5-19. Q Configuration (Q1230 System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	84
Figure 5-20. P Configuration with Theta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	85
Figure 5-21. Q Configuration with Theta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	86
Figure 5-22. Single-Axis Orientation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	87
Figure 5-23. Standard/Standard Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	87
Figure 5-24. Flipped/Standard Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	88
Figure 5-25. Standard/Rolled Orientation (Rear View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	88
Figure 5-26. Flipped/Rolled Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	89
Figure 5-27. Mounting Options in Module System Descriptor Number . . . . . . . . . . . . . . . . . . . . . . . .	90
Figure 5-28. S1000SS13 - Single L18 System with Three Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . .	91
Figure 5-29. S1000SS00 - Single L18 System without Mounting Feet . . . . . . . . . . . . . . . . . . . . . . . . . . .	91
Figure 5-30. L08 Module with Toe Clamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	92
Figure 5-31. L12 Module with Toe Clamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	92
Figure 5-32. L18 Module with Toe Clamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	93
Figure 5-33. L18 Module with Mounting Feet Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	93
Figure 5-34. L12 Module with Mounting Feet Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	94
Figure 5-35. L08 Module with Mounting Feet Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	94
Figure 5-36. LG6 Module with Mounting Feet Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	95
Figure 5-37. L08 Module with Toe Clamp Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	95
Figure 5-38. L12 Module with Toe Clamp Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	96
Figure 5-39. L18 Module with Toe Clamp Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	96
Figure 5-40. Cable Kit Descriptors for a Typical 3-Axis P or Q System . . . . . . . . . . . . . . . . . . . . . . . . . .	97
Figure 5-41. Gantry (LG6) Module Shown with Gantry Mounting Kit . . . . . . . . . . . . . . . . . . . . . . . . . .	98
Figure 5-42. Gantry Key Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	99
Figure 5-43. L12 Gantry Mounting Methods, End and Side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	99
Figure 5-44. Gantry Installation: Parallel Alignment Specs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	100
Figure 5-45. Gantry Installation: Lip Seal to Support Bracket Gap Dimensions . . . . . . . . . . . . . . . . .	101
Figure 5-46. Gantry Over-Travel Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	102
Figure 5-47. IO Blox Options in Module System Descriptor Number . . . . . . . . . . . . . . . . . . . . . . . . . .	104
Figure 5-48. Mounting onto an MB-10 Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	104
Figure 5-49. Mounting onto an L18 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	105
Figure 5-50. Mounting onto a Module T-Slot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	105
Figure 5-51. Mounting onto a Two-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	106
Figure 5-52. Mounting onto a Three-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	107
Figure 5-53. Cabling/Plumbing Options in Module System Descriptor Number . . . . . . . . . . . . . . . .	107
Figure 6-1. Recommended Lifting Technique for Python System . . . . . . . . . . . . . . . . . . . . . . . . . . . .	109

12	Adept Python Modules User’s Guide, Rev. E

	List of Figures
Figure 6-2. Typical Three-Axis System on Shipping Pallet with Contents Labelled . . . . .	. . . . . . . . . 111
Figure 6-3. Removing Shipping Screws from Axis 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 111
Figure 6-4. Installing Axis 3 on Axis 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 112
Figure 6-5. Removing Shipping Screws from Axis 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 112
Figure 6-6. Removing Shipping Screws from Axis 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 113
Figure 6-7. Lifting a Python System Using a Hoist and Slings . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 113
Figure 6-8. Example Cleanroom Module System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 115
Figure 7-1. System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 118
Figure 8-1. Adept PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 121
Figure 8-2. Typical Single-Phase 200-240 VAC Connection . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 123
Figure 8-3. Typical Three-Phase 200-240 VAC Connection . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 123
Figure 8-4. Typical Three-Phase 380-415 VAC Connection . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 123
Figure 8-5. PDU3 with Mounting Brackets Installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 126
Figure 8-6. PDU3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 127
Figure 8-7. Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 128
Figure 8-8. E-Stop Circuit Diagram for PDU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 130
Figure 9-1. Adept MB-10 Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 133
Figure 9-2. Connector Locations on MB-10 Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 135
Figure 9-3. Attaching the AC Power and Ground Cables . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 136
Figure 9-4. EEPROM Device on T-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 137
Figure 10-1. DC_SETUP Program Main Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 146
Figure 10-2. DC_SETUP Program Setup Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 147
Figure 10-3. DC_SETUP Program Node to Robot/Motor Map Screen . . . . . . . . . . . . . . .	. . . . . . . . . 147
Figure 10-4. DC_SETUP Program Current Configuration Screen . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 148
Figure 10-5. Calibration Setup Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 149
Figure 11-1. MB-10 Internal Battery and Retaining Clip . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 155
Figure 11-2. MB-10 Internal Battery Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 156
Figure 11-3. Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 156
Figure 11-4. Replacement Cable Assembly Installed in Module . . . . . . . . . . . . . . . . . . .	. . . . . . . . . 158
Figure 12-1. System Installation with Two Linear Module Robots Daisy-Chained . . . . . .	. . . . . . . . . 162
Figure 12-2. System Installation with Three Linear Module Robots and Two PDUs . . . . .	. . . . . . . . . 163
Figure 12-3. Three Linear Module Robots, Two PDUs, and a Cobra s600 with Vision . . .	. . . . . . . . . 164

Adept Python Modules User’s Guide, Rev. E

13

Introduction 1

1.1Product Description

Adept Python Modules

The Adept Python Linear Modules product line consists of precision ball-screw driven modules that function as single-axis mechanisms, and can also be combined into numerous two-, three-, and four-axis configurations. Each linear module is available in different lengths (see Table 1-1) and motor mounting configurations. The Theta module adds a rotational axis to a Python system, providing additional handling options. You can find drawings for the multiple axis configurations in Chapter 5.

Most module configurations are shipped fully assembled, so the user only needs to connect the controller and any peripherals. This manual describes the different module and system types, and covers the basic steps of installing a typical system. Refer to Table 1-2 on page 22 for a list of manuals that provide additional information on your Adept system.

Table 1-1. Adept Python Modules

Module Type	Width	Height	Available Lengths
L18	185 mm	93 mm	300 to 2000 mm
L12	125 mm	83 mm	200 to 1500 mm
L08	85 mm	68 mm	100 to 800 mm
LT1	90 mm	65 mm	With User Flange = 240 mm
			Without Flange = 230 mm

MotionBlox-10 Servo Controller and Amplifier

Each module axis is controlled and powered by its own on-board servo controller and amplifier, called a MotionBlox-10 (MB-10). Each MB-10 is linked via the IEEE 1394 high-speed serial communication protocol to the Adept SmartController.

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Chapter 1 - Introduction

L18 Module with

MotionBlox-10 Amp

93	mm

185	mm

Figure 1-1. L18 Linear Module with MB-10 Amplifier

L12 Module with

MotionBlox-10 Amp

83	mm

125	mm

Figure 1-2. L12 Linear Module with MB-10 Amplifier

16	Adept Python Modules User’s Guide, Rev. E

Product Description

L08 Module with

MotionBlox-10 Amp

68	mm

85	mm

Figure 1-3. L08 Linear Module with MB-10 Amplifier

Daisy-chained set of MB-10 amplifiers, one for each module

Figure 1-4. Three-Axis System with L18, L12, and L08 Modules

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Chapter 1 - Introduction

Special and Custom Orders

Special orders consist of any unique module or system configuration not outlined in this manual, or supported by the Adept 3D Modules configuration tool on our website. Custom orders consist of any order containing a custom module or module system. These orders may not be fully assembled at the factory.

Adept SmartController CX

The SmartController CX is the foundation of Adept’s family of high-performance distributed motion and vision controllers. The SmartController CX is designed for use with:

•Adept Cobra s-series robots

•Adept Viper s-series robots

•Adept Python Modules

•Adept Servo Kit Systems

•Adept sMI6 (SmartMotion)

•Adept Quattro robots

The SmartController CX supports an integrated vision option and a conveyor tracking option. It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture supporting Adept products. The controller also includes Fast Ethernet and DeviceNet.

*S/N 3562-XXXXX*

R	CAMERA	RS-232/TERM	RS-422/485

SmartServo

IEEE-1394

OK

HPE

LAN

Device Net

Eth 10/100

SW1

1.1

1.2

2.1

2.2

BELT ENCODER

RS-232-1

RS-232-2

SF

ES

HD

1 2 3 4

ON

OFF

1

2

3

XDIO

XUSR

XSYS

XFP

XMCP

XDC1 XDC2

24V

5A

SmartController CX

-+ -+

Figure 1-5. Adept SmartController CX

18	Adept Python Modules User’s Guide, Rev. E

Product Description

Power Distribution Unit (PDU3)

The Power Distribution Unit (PDU3) is a safety device that provides Category-3 E-Stop functionality, per EN 954. The PDU3 also provides surge protection, power filtering, and DC power for the MB-10 and optional IO Blox devices.

PDU3

	24V
	AMP	AUX
	CH1	CH2
	ES1	ES2
	AMP DC RESET
	AUX DC RESET
		XDCS
	1	2
		XSLV1/
		XSLV2
	AC	C B
		I	R
		R E
	PWR	C A
		U K
		I	E
	AMP	T R

AC

PWR

IN

Figure 1-6. PDU3

Adept Python Modules User’s Guide, Rev. E

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Chapter 1 - Introduction

1.2Overview of Typical System Installation

This section provides an overview of the installation process for a typical Adept Python modules system using an Adept SmartController.

Installing Adept Python Modules

1.Unpack your system and verify that you have everything required.

2.Install the modules onto your work surface (see Chapter 6 for information).

3.Connect these cables:

a.IEEE 1394 cable from MB-10 #1 to SmartController

b.Switched AC power cable from MB-10 #1 to PDU3

c.24 VDC cable from MB-10 #1 to PDU3

4.To install an optional IO Blox device, see the Adept IO Blox User’s Guide.

Installing the SmartController

NOTE: Refer to the Adept SmartController User’s Guide for detailed instructions on installing the controller.

1.Mount the controller chassis in the workcell. There are several different mounting choices. See page 117.

2.Connect 24 VDC power to the SmartController.

3.Connect a ground wire to the SmartController.

Installing Peripherals and Options

1.Install the PDU3 in the workcell. See Section 8.2 on page 122.

2.Connect AC power to the PDU3. See Section 8.3 on page 123.

3.Mount the Adept Front Panel.

It must be outside of the workcell. See the Adept SmartController User’s Guide for information on using the Front Panel.

4.Connect the Front Panel to the SmartController. See Section 7.4 on page 119.

5.Connect the optional T2 pendant to the SmartController. See Section 7.5 on page 119.

6.Install the User Interface. See Section 7.6 on page 120. There are two choices:

•AdeptWindows PC software, running on the user-supplied PC

•Optional Adept DeskTop software, running on the user-supplied PC

20	Adept Python Modules User’s Guide, Rev. E

Manufacturer’s Declaration

7.Refer to the Operation chapter in the Adept SmartController User’s Guide for information on installing customer-supplied equipment and safety circuits, including:

•Emergency Stop circuits

•Remote Manual Mode control

•Remote High Power control

•Connecting user-supplied serial and digital I/O equipment

Turning On the System

1.Refer to Chapter 10 to perform system installation verification.

2.After the installation has been verified for all safety regulations, turn on DC power to the controller and AC power to the PDU.

3.See Section 10.4 on page 145 for the software configuration process.

1.3Manufacturer’s Declaration

The Manufacturer’s Declaration of Incorporation and Conformity for Adept Python modules systems can be found on the Adept website, in the Download Center of the Support section.

http://www.adept.com/support/downloads_disclaimer.asp

In the Download Types search box, select Regulatory Certificates to find the document, which you can then download.

1.4How 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 website:

http://www.adept.com

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Chapter 1 - Introduction

1.5Related Manuals

This manual covers the installation of a SmartContoller-based Adept Python Modules system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See Table 1-2. These manuals are available on the Adept Document Library on CD-ROM provided with each system.

	Table 1-2. Related Manuals
Manual Title	Description
Adept SmartController	Contains complete information on the installation and operation
User’s Guide	of the Adept SmartController and the optional sDIO products.
Adept T2 Pendant User’s	Describes the T2 Pendant product.
Guide
Adept IO Blox User’s Guide	Describes the IO Blox product.
AdeptWindows Installation	Describes complex network installations, installation and use of
Guide and AdeptWindows	NFS server software, the AdeptWindows Offline Editor, and the
Online Help	AdeptWindows DDE software.
Instructions for Adept	Describes the utility programs used for advanced system
Utility Programs	configurations, system upgrades, file copying, and other system
	configuration procedures.
V+ Operating System User’s	Describes the V+ operating system, including disk file
Guide	operations, monitor commands, and monitor command
	programs.
V+ Language User’s Guide	Describes the V+ language and programming of an Adept
	control system.

Adept Document Library

In addition to the Adept Document Library on CD-ROM, you can find Adept product documentation on the Adept website in the Document Library area. The Document Library search engine allows you to locate information on a specific topic. Additionally, the Document Menu provides a list of available product documentation.

To access the Adept Document Library, type the following URL into your browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

or, select the Document Library link on the Home page of the Adept website.

22	Adept Python Modules User’s Guide, Rev. E

Safety 2

2.1Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in this manual. In descending order of importance, they are:

DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

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.

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Chapter 2 - Safety

2.2Intended Use of the Modules

The installation and use of Adept products must comply with all safety instructions and warnings in this manual. Installation and use must also comply with all applicable local and national requirements and safety standards (see Section 2.7 on page 31).

Adept Python Modules are intended for use in parts assembly and material handling for a variety of payloads, depending on the specific configuration.

WARNING: For safety reasons, it is prohibited to make certain modifications to Adept robots (see Section 2.5 on page 30).

The SmartController is a component subassembly of a complete industrial automation system. The SmartController must be installed inside a suitable enclosure. The SmartController and modules must not come into contact with liquids.

The Adept equipment is not intended for use in any of the following situations:

•In hazardous (explosive) atmospheres

•In mobile, portable, marine, or aircraft systems

•In life-support systems

•In residential installations

•In situations where the Adept equipment will be washed down or subject to extremes of heat or humidity.

Non-intended use of an Adept Python Modules system can:

•Cause injury to personnel

•Damage the robot or other equipment

•Reduce system reliability and performance

All persons that install, commission, operate, or maintain the robot must:

•Have the necessary qualifications

•Read and follow exactly the instructions in the documentation

WARNING: The instructions for operation, installation, and maintenance given in the documentation must be strictly observed.

If there is any doubt concerning the application, ask Adept to determine if it is an intended use or not.

24	Adept Python Modules User’s Guide, Rev. E

Risk Assessment

2.3Risk Assessment

Without special safeguards in its control system, Adept Python Modules could inflict serious injury on an Operator working within its work envelope. Safety standards in many countries require appropriate safety equipment to be installed as part of the system. Table 2-1 lists some of the safety standards that affect industrial robots. It is not a complete list. You must comply with all applicable local and national standards for the location where the robot will be installed.

Table 2-1. Partial List of Robot and Machinery Safety Standards

International	USA	Canada	Europe	Title of Standard
ISO 10218			EN 775	Manipulating Industrial Robots -
				Safety
	ANSI/RIA	CAN/CSA-		Industrial Robots and Robot Systems
	R15.06	Z434-94		- Safety Requirements
			EN 292-2	Safety of Machinery - Basic
				Concepts, General Principles for
				Design
			EN 954-1	Safety Related Parts of Control
				Systems - General Principles for
				Design
			EN 1050	Safety of Machinery - Risk
				Assessment

Adept has performed a Risk Assessment for this product, based on the intended applications of the robot. The conclusions are summarized in the following sections.

Exposure

When High Power is on, all personnel must be kept out of the robot work envelope by interlocked perimeter barriers. The only permitted exception is for teaching the robot in Manual Mode by a skilled programmer (see Section 2.11 on page 33), who must wear safety equipment (see Section 2.12 on page 33) and carry the T2 pendant. Therefore, exposure of personnel to hazards related to the robot is limited (seldom and/or short exposure time).

Severity of Injury

Provided that skilled personnel who enter the modules robot work envelope are wearing protective headgear, eyeglasses, and safety shoes, it is likely that any injuries caused by the robot would be slight (normally reversible).

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Chapter 2 - Safety

Avoidance

Due to the module’s size and speed capability, it is likely that such personnel could avoid being hit by the robot even in a high-acceleration, runaway failure condition. The programmer must carry the T2 pendant when inside the work envelope, as the T2 pendant provides both E-Stop and Enabling switch functions.

For normal operation, AUTO mode, user-supplied interlocked guarding must be installed to prevent any person entering the workcell while High Power is on.

DANGER: The Adept-supplied system components provide Category 3 Emergency Stop functionality and Category 1 protection during TeachMode operation, as defined by EN 954. The robot system must be installed with user-supplied interlock barriers. The interlocked barrier should interrupt the AC supply to the system in the event of personnel attempting to enter the workcell when High Power is enabled, except for Teaching in Manual mode. Failure to install suitable guarding could result in injury or death.

The E-stop CIRCUIT is "category 3" as defined by EN 954 (dual channel: redundant, diverse, and control-reliable).

Activating the E-stop system causes a Category 0, Uncontrolled stop, as defined by NFPA79.

The E-stop circuit is Dual Channel (redundant, diverse, and control reliable).

The Risk Assessment for teaching this product depends on the application. In many applications, the programmer will need to enter the robot workcell while High Power is enabled to teach the robot. Other applications can be designed so that the programmer does not have to enter the work envelope while High Power is on. Examples of alternative methods of programming include:

1.Programming from outside the safety barrier.

2.Programming with High Power off (using the brake release button when required).

3.Copying a program from another (master) robot.

4.Off-line or CAD programming.

Control System Behavior Category

The following paragraphs relate to the requirements of European (EU/EEA) directives for Machinery, Electric Safety, and Electromagnetic Compatibility (EMC).

26	Adept Python Modules User’s Guide, Rev. E

Precautions and Required Safeguards

In situations with low exposure consideration factors, European Standard EN 1050 specifies use of a Category 1 Control System per EN 954. EN 954 defines a Category 1 Control System as one that employs Category B components designed to withstand environmental influences, such as voltage, current, temperature, EMI, and well-tried safety principles. The standard SmartController control system described in this user’s guide employs hardware components in its safety system that meet or exceed the requirements of the EU Machinery Directive and Low Voltage Directive.

Furthermore, the standard control system is fully hardened to all EMI influences per the EU EMC Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots Safety. In addition, a software-based reduced speed and maximum current limit provided to the motor by the amplifier have been incorporated to limit speed and impact forces on the Operator and production tooling when the robot is operated in Manual mode.

In consideration of the above, the standard Adept SmartController Control System meets or exceeds the requirements imposed by the EN 954 specified Category 1 level of safety.

2.4Precautions and Required Safeguards

This manual must be read by all personnel who install, operate, or maintain Adept systems, or who work within or near the workcell.

WARNING: Adept Technology strictly prohibits installation, commissioning, or operation of an Adept robot without adequate safeguards according to applicable local and national standards. Installations in EU and EEA countries must comply with EN 775/ISO 10218, especially sections 5, 6, EN 292-2, EN 954-1, and

EN 60204-1, especially section 13.

Maximum Thrust

Adept Python Modules systems include computer-controlled mechanisms that are capable of exerting considerable force. Like all robot and motion systems, and most industrial equipment, they must be treated with respect by the user and the operator (see

Table 2-2 and Table 2-3).

Table 2-2. Maximum Thrust (at slider)a

	Module Type	Lead type,	Maximum thrust
		mm/rev	[N], Instantaneous
	L18 and L12	10	2280
		20	1140
	L08	10	850
		20	430

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Chapter 2 - Safety

aSee module product specifications for maximum rated thrust that can be applied repeatedly in an application. The values listed in the table above are for safety considerations.

Safety Barriers

Safety barriers must be an integral part of robot workcell design. Adept systems are computer-controlled and may activate remote devices under program control at times or along paths not anticipated by personnel. It is critical that safeguards be in place to prevent personnel from entering the workcell whenever equipment power is present.

The robot system integrator, or end user, must ensure that adequate safeguards, safety barriers, light curtains, safety gates, safety floor mats, etc., will be installed. The robot workcell must be designed according to the applicable local and national standards (see

Section 2.7 on page 31).

The safe distance to the robot depends on the height of the safety fence. The height and the distance of the safety fence from the robot must ensure that personnel cannot reach the danger zone of the robot (see Section 2.7 on page 31).

The Adept control system has features that aid the user in constructing system safeguards, including customer emergency stop circuitry and digital input and output lines. The emergency power-off circuitry is capable of switching external power systems, and can be interfaced to the appropriate user-supplied safeguards.

Impact and Trapping Points

The modules are capable of moving at high speeds. If a person is struck by a robot (impacted) or trapped (pinched), death or serious injury could occur. System configuration, joint speed, joint orientation, and attached payload all contribute to the total amount of energy available to cause injury.

Hazards From Expelling a Part or Attached Tooling

The maximum joint tip speeds that can be achieved by Adept Python Modules in a runaway situation are listed in Table 2-3. Any tooling, fixtures, end-effectors, etc., mounted to the module must be attached by sufficient means to resist being expelled from the module. Additionally, any payload must be held by the end-effector in a manner that prevents the payload from being expelled accidentally.

Table 2-3. Maximum Linear Modules Joint Velocities in Runaway Situationsa

	Module Type	Lead type,	Max linear speed
		mm/rev	(mm/s)
	L18	10	979
		20	1940
	L12	10	979
		20	1940
	L08	10	1170
		20	2340

aThese velocities can occur only in a runaway or mechanical failure situation. These are not performance specifications.

28	Adept Python Modules User’s Guide, Rev. E

Precautions and Required Safeguards

The safety fence or barrier constructed around the robot must be designed to withstand the impact of any item expelled accidentally from the robot. Projectile energy can be calculated using the formula E = 1/2mv2.

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 2-4 on page 29 lists some sources for the various standards.

.

Table 2-4. Sources for International Standards and Directives

SEMI International Standards		American National Standards Institute (ANSI)
3081 Zanker Road		11 West 42nd Street, 13th Floor
San Jose, CA 95134		New York, NY 10036
USA		USA
Phone: [phone]		Phone [phone]
Fax: [phone]		Fax [phone]
http://www.semi.org/		http://www.ansi.org
BSI Group (British Standards)		Document Center, Inc.
389 Chiswick High Road		1504 Industrial Way, Unit 9
London W4 4AL		Belmont, CA 94002
United Kingdom		USA
Phone [phone]		Phone [phone]
Fax [phone]		Fax [phone]
http://www.bsi-global.com		http://www.document-center.com
DIN, Deutsches Institut für Normung e.V.		Global Engineering Documents
German Institute for Standardization		15 Inverness Way East
Burggrafenstrasse 6		Englewood, CO 80112
10787 Berlin		USA
Germany
		Phone [phone]
Phone.: [phone]		Fax [phone]
Fax: [phone]		http://global.ihs.com
http://www.din.de
http://www2.beuth.de/ (publishing)
IEC, International Electrotechnical Commission		Robotic Industries Association (RIA)
Rue de Varembe 3		900 Victors Way
PO Box 131		PO Box 3724
CH-1211 Geneva 20		Ann Arbor, MI 48106
Switzerland		USA
Phone [phone]		Phone [phone]
Fax [phone]		Fax [phone]
http://www.iec.ch		http://www.robotics.org

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Chapter 2 - Safety

Table 2-4. Sources for International Standards and Directives (Continued)

Underwriters Laboratories Inc.

333 Pfingsten Road

Northbrook, IL 60062-2096 USA

Phone: [phone]

Fax: [phone]

http://www.ul.com/info/

2.5Equipment Modifications

It is sometimes necessary to modify the robot in order to successfully integrate it into a workcell. Unfortunately, many seemingly simple modifications can either cause a robot failure or reduce the robot’s performance, reliability, or lifetime. The following information is provided as a guideline to modifications.

Acceptable Modifications

In general, the following modifications will not cause problems, but may affect performance:

•Attaching tooling, utility boxes, solenoid packs, vacuum pumps, screwdrivers, cameras, lighting, etc., to a module.

•Attaching hoses, pneumatic lines, or cables to a module. These should be designed so they do not restrict robot motion or cause robot motion errors. T-slots and threaded holes are provided on each module for the purpose of mounting user equipment. T-slots accept a standard M4 square nut (DIN 562).

Unacceptable Modifications

The following modifications may damage the module, reduce system safety and reliability, or shorten the life of the module.

CAUTION: Making any of the modifications outlined below will void the warranty of any components that Adept determines were damaged due to the modification. You must contact Adept Customer Service if you are considering any of the following modifications.

•Modifying any of the module harnesses or module-to-controller cables.

•Modifying any module access covers or drive system components.

•Modifying, including drilling or cutting, any module extrusion.

•Modifying any module or MB-10 electrical component or printed-circuit board.

•Routing additional hoses, air lines, or wires through the module.

•Modifications that compromise EMC performance, including shielding.

30	Adept Python Modules User’s Guide, Rev. E