Adept s1300 User Manual

Adept Viper

s1300 Robot

User’s Guide

Adept Viper

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

s1300 Robot

User’s Guide

P/N: 06561-000, Rev B

December 2011

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub­ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc­umentation. Please email your comments to: [e-mail].

Copyright

The Adept logo, AdeptVision, AIM, HexSight, and HexaVision

Adept SmartController CX are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

 2006, 2011 by Adept Technology, Inc. All rights reserved.

are registered trademarks of Adept Technology, Inc.

Adept ACE, Adept Viper s1300, Adept PA-4, and

are the property of those respective companies.

Printed in the United States of America

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Adept Viper s1300™ Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Adept SmartController CX™. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Adept PA-4™ CAT-3 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Manufacturer’s Declaration of Compliance (MDOC) . . . . . . . . . . . . . . . . 12

Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.6 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.7 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.8 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.9 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.1 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 17

2.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.3 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Precautions in Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Transport Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.4 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.5 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.6 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 24

2.7 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Solenoid Valve Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

External Mounting Locations on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.8 Designing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Moment of Inertia Around J4, J5 and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Adept Viper s1300 Robot User’s Guide, Rev B 5

Table of Contents

3 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.2 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.3 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.4 Connecting the PC to the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.5 Installing the PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.6 Connecting 3-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Connecting the PA-4 3-Phase AC Power Cord to AC Supply . . . . . . . . . . 38

Typical 3-Phase AC Power Installation Diagrams . . . . . . . . . . . . . . . . . . . . . 39

4 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.1 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 42

System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Running the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Starting the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Enabling High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Verifying Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.2 Learning to Program the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.4 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.5 Installing and Using the Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.1 Replacing Encoder Backup Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.2 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

6.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

6 Adept Viper s1300 Robot User’s Guide, Re v B

List of Figures

Figure 1-1. Robot Axis Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Figure 1-2. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Figure 2-1. Robot in Hoisting Sling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Figure 2-2. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Figure 2-3. Ground Point on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Figure 2-4. Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 2-5. External Mounting Holes on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 2-6. Allowable Range of Center of Gravity Position of End-effector . . . . . . . . . . . . . . . . . . . . 29

Figure 2-7. Moment of Inertia Calculation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 3-1. System Cable Diagram for Adept Viper s1300 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 3-2. Adept PA-4 Power Chassis with sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 3-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 3-4. Typical 3-Phase 380-415 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 4-1. High Power Button on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 4-2. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 4-3. Manual Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Figure 5-1. Removing Cover to Replace Encoder Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 5-2. Removing Battery Support Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 5-3. Removing Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 5-4. Connecting First New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Figure 5-5. Connecting Second New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Figure 5-6. Connecting Third New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Figure 5-7. Reconnecting Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Figure 6-1. Adept Viper s1300 Side Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Figure 6-2. Adept Viper s1300 Top Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Figure 6-3. Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Adept Viper s1300 Robot User’s Guide, Rev B 7

List of Figures

8 Adept Viper s1300 Robot User’s Guide, Re v B

1.1 Product Description

Adept Viper s1300™ Robots

The Adept Viper s1300 is a high-performance, six-axis robot designed specifically for
assembly applications. The speed and precision of the Adept Viper robots also make them
ideal for material handling, packaging, machine tending, and many other operations
requiring fast and precise automation.

Tool mounting
flange

Second arm

Introduction 1

3rd-axis motor cover (rear side)

4th axis (J4)

(+)

4th-axis cover

6th axis (J6)

2nd-axis motor cover (rear side)

(+)

(-)

(+)

Base

(-)

(+)

(-)

(-)

1st axis (J1)

(-)

5th axis (J5)

Figure 1-1. Robot Axis Identification

(+)

(-)

(+)

3rd axis (J3)

First arm

2nd axis (J2)

Adept Viper s1300 Robot User’s Guide, Rev B 9

Chapter 1 - Introduction

R

ON

SmartServo IEEE-1394

1234

SF ES HD

SW1

1.1 1.2 2.1 2.2

OK

123

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

SmartController CX

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Adept SmartController CX™

The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion controllers. The SmartController CX is designed for use with Adept
Cobra s600 and s800 robots, Adept Python Modules, Adept Viper robots, Adept Quattro
robots, and the Adept sMI6 Module for the SmartMotion product.

The SmartController CX supports 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.

Figure 1-2. Adept SmartController CX

Adept PA-4™ CAT-3 Power Chassis

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. The PA-4 is configured with J Amplifier
modules to support the Adept Viper s1300 robot systems.

The J and K amplifiers in the Adept Viper s1300 robot system are controlled by the sDAI
(100 W) 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 high­performance robot motion. The sDAI is connected to a host Adept SmartController via the
SmartServo interface (based on IEEE 1394).

10 Adept Viper s1300 Robot User’s Guide, Rev B

Dangers, Warnings, Cautions, and Notes

1.2 Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in Adept manuals. 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.

WAR NI NG : This indicates a potentially hazardous

electrical situation which, if not avoided, could result in
injury or major damage to the equipment.

WAR NI NG : 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: Notes provide supplementary information, emphasize a point or

procedure, or give a tip for easier operation.

Adept Viper s1300 Robot User’ s Gu ide, Re v B 11

Chapter 1 - Introduction

1.3 Safety Precautions

DANGER: The Adept Viper s1300 robot can cause serious

injury or death, or damage to itself and other equipment, if
the following safety precautions are not observed:

• All personnel who install, operate, teach, program, or maintain the system must
read this guide, read the Adept Robot Safety Guide, and complete a training
course for their responsibilities in regard to the robot.

• All personnel who design the robot system must read this guide, read the Adept

Robot Safety Guide, and must comply with all local and national safety

regulations for the location in which the robot is installed.

• The robot system must not be used for purposes other than described in Section

1.6. Contact Adept if you are not sure of the suitability for your application.

• The user is responsible for providing safety barriers around the robot to prevent
anyone from accidentally coming into contact with the robot when it is in motion.

• Power to the robot and its power supply must be locked out and tagged out before
any maintenance is performed.

1.4 What to Do in an Emergency Situation

Press any E-Stop button (a red push-button on a yellow background/field) and then
follow the internal procedures of your company or organization for an emergency
situation. If a fire occurs, use CO

to extinguish the fire.

2

1.5 Additional Safety Information

Adept provides other sources for more safety information:

Manufacturer’s Declaration of Compliance (MDOC)

This lists all standards with which each robot complies. See “Manufacturer’s

Declaration” on page 13.

Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots.
It also gives resources for more information on relevant standards.

It ships with each robot manual, and is also available from the Adept Document Library.

See “Adept Document Library” on page 15.

12 Adept Viper s1300 Robot User’s Guide, Rev B

1.6 Intended Use of the Robots

The Adept Viper robots are intended for use in parts assembly and material handling for
payloads less than 10 kg. See Chapter 2 for complete information on tooling and
payloads.

1.7 Installation Overview

The system installation process is summarized in the following table. Refer also to the
system cable diagram in Figure 3-1 on page 33.

NOTE: For dual-robot installations, see the Adept Viper Dual Robot

Configuration Procedure, which is available in the Adept Document

Library.

Table 1-1. Installation Overview

Task to be Performed Reference Location

1. Mount the robot on a flat, secure mounting surface. See Section 2.4 on page 22.

Intended Use of the Robots

2. Install the SmartController, Front Panel, and Adept
ACE™ software.

3. Install the PA-4 power chassis. See Section 3.5 on page 35.

4. Install the Arm Power/Signal cable between the
PA-4 and the robot.

5. Install the IEEE 1394 and XSYS cables between
the PA-4 and SmartController.

6. Connect AC power to PA-4 power chassis. See Section 3.6 on page 37.

7. Start the Adept ACE software, connect to the
controller, and turn on power to the system.

1.8 Manufacturer’s Declaration

The Manufacturer’s Declaration of Incorporation and Conformity lists all standards for
which the Adept Viper robot system complies. It can be found on the Adept Web site, in
the Download Center of the Support section.

ftp://ftp1.adept.com/Download-Library/Manufacturer-Declarations/

See Section 3.2 on page 34.

See Section 3.5 on page 35.

See Section 3.5 on page 35.

See Section 4.1 on page 41.

Each Manufacturer's Declaration is supplied in PDF format and stored on the website in a
ZIP archive. To access the PDF document:

1. Click on the appropriate .zip file. You are prompted to Open or Save the file.

2. Click Open to open the file and display the archive contents.

3. Double-click on a .pdf file to open it.

Adept Viper s1300 Robot User’ s Gu ide, Re v B 13

Chapter 1 - Introduction

1.9 How 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 web site:

http://www.adept.com

• For Contact information:

http://www.adept.com/contact/americas
http://www.adept.com/contact/asiapacific-rim
http://www.adept.com/contact/europe

• For Product Support information:

http://www.adept.com/support/service-and-support/main

• For user discussions, support, and programming examples:

http://www.adept.com/forum/

• WEEE/RoHS, Policy:

ftp://ftp1.adept.com/Download-Library/Regulatory/

• WEEE Drop-off Sites:

http://www.adept.com/contact/americas
http://www.adept.com/contact/asiapacific-rim
http://www.adept.com/contact/europe

The Download Center (ID # 500080) provides Adept WEEE/RoHS Policy. The
Contact area of the web site gives locations of WEEE drop-off sites.

14 Adept Viper s1300 Robot User’s Guide, Rev B

How Can I Get Help?

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Viper s1300
robot system. There are additional manuals that cover programming the system,
reconfiguring installed components, and adding other optional components. See Ta bl e

1-2. These manuals are available on the Adept Document Library CD-ROM shipped with

each system.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains general safety information for all Adept robots.

Adept SmartController
User’s Guide

Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.

Adept PA-4 Power Chassis
User’s Guide

Contains complete information on the installation and
operation of the PA-4 Power Chassis.

Adept ACE User’s Guide Describes installation of Adept ACE software.

Adept Viper Dual Robot
Configuration Procedure

Instructions for Adept
Utility Programs

Contains cable diagrams and configuration procedures for a
dual-robot system.

Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.

+

V+ Operating System User’s
Guide

Describes the V
operations, monitor commands, and monitor command

operating system, including disk file

programs.

+

V+ Language User’s Guide Describes the V

language and programming of an Adept

control system.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL from:

• the Adept Software CD shipped with your system

• the Adept Web site. Select Document Library from the Adept home page. To go
directly to the Adept Document Library, type the following URL into your
browser:

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

To locate information on a specific topic, use the Document Library search engine on the
ADL main page. To view a list of available product documentation, select the Document
Titles option.

Adept Viper s1300 Robot User’ s Gu ide, Re v B 15

Chapter 1 - Introduction

16 Adept Viper s1300 Robot User’s Guide, Rev B

Robot Installation 2

2.1 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. Pay special
attention to tilt and shock indication labels on the exteriors of the containers, if installed. If
any damage is indicated, request that the carrier’s agent be present at the time the
container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, please compare the actual items received (not
just the packing slip) with your equipment purchase order and verify that all items are
present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.

If the items received do not match your order, please contact Adept immediately.

Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact Adept (see Section 1.9 on page 14).

Retain all containers and packaging materials. These items may be necessary to settle
claims or, at a later date, to relocate equipment.

Adept Viper s1300 Robot User’s Guide, Rev B 17

Chapter 2 - Robot Installation

2.2 Environmental and Facility Requirements

The Adept robot system installation must meet the operating environment requirements
shown in Table 2-1.

Table 2-1. Robot System Operating Environment Requirements

Item Condition

Flatness of the mounting
surface

Installation type Floor-mount or Overhead-mount

Ambient temperature During operation: 0 to 40°C

Humidity During operation: 90% or less (No dew condensation allowed.)

Vibration During operation: 4.9 m/s

Safe Installation
Environment

0.1/500 mm

During storage and transportation: -10 to 60°C

During storage and transportation: 75% or less (No dew
condensation allowed.)

2

(0.5G) or less

During storage and transportation: 29.4 m/s

The robot should not be installed in an environment where:

• there are flammable gases or liquids,

• there are any acidic, alkaline or other corrosive gases,

• there is sulfuric or other types of cutting or grinding oil
mist, or

• there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise.

• there are any shavings from metal processing or other
conductive material flying about,

• it may be directly exposed to water, oil, or cutting chips.

2

(3G) or less

Working space, etc. • Sufficient service space must be available for inspection and

disassembly.

• Keep wiring space (230 mm or more) behind the robot, and
fasten the wiring to the mounting face or beam so that the
weight of the cables will not be directly applied to the
connectors.

Installation conditions Grounding resistance: 100 milliohms or less

See Figure 2-3 on page 23.

18 Adept Viper s1300 Robot User’s Guide, Rev B

2.3 Transporting the Robot

Precautions in Transporting Robot

• The robot weighs approximately 78 kg. Use a crane suitable for the robot weight.

• Have at least two workers handle this job.

• Workers should wear helmets, safety shoes, and gloves during transport.

• Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-axis cover, or
3rd-axis cover, or apply force to any of them. See Figure 1-1 on page 9.

CAUTION: Pass the hoisting wires through the specified

eyebolts as illustrated below. Passing them through other
sections may drop the robot unit, resulting in injuries to
personnel or damage to the robot.

Transporting the Robot

Wire
(Belt sling)

Waste Cloth

Eyebolts

Robot Mounting
Bolts

Figure 2-1. Robot in Hoisting Sling

Adept Viper s1300 Robot User’ s Gu ide, Re v B 19