Adept s1700D User Manual

Adept Viper

s1700D 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]

s1700D Robot

User’s Guide

P/N: 11160-000, Rev A

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

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

HexSight, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered

Adept ACE, Adept Viper s1700D, Adept PA-4, Adept T2, IO Blox, and

Adept SmartController CX are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

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

trademarks of Adept Technology, Inc.

are the property of those respective companies.

Printed in the United States of America

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Adept Viper s1700D™ Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Axis Naming Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Adept SmartController CX™. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Adept PA-4™ CAT-3 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.2 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.4 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Manufacturer’s Declaration of Compliance (MDOC) . . . . . . . . . . . . . . . . 14

Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.6 Intended Use of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.7 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.8 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.9 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.1 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 19

Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.3 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Using a Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Using a Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.4 Shipping Bolts and Brackets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.5 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Types of Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Mounting the Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Mounting on a Ceiling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Affixing the Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Precautions to Prevent the Robot from Falling . . . . . . . . . . . . . . . . 29

2.6 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Adept Viper s1700D Robot User’s Guide, Rev A 5

2.7 Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.8 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

External Mounting Locations on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.9 Designing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Wrist Tool Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.2 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.3 Installing the Adept ACE Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.4 Connecting the PC to the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.5 Installing the PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.6 Connecting 3-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Connecting the PA-4 3-Phase AC Power Cord to AC Supply . . . . . . . . . . 44

Typical 3-Phase AC Power Installation Diagrams. . . . . . . . . . . . . . . . . . . . . 45

4 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.1 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 48

System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Running the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Starting the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Enabling High Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Verify Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.2 Learning to Program the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.4 Status Panel Codes on sDAI (HP) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.5 Installing and Using the Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Adept Viper s1700D Robot User’s Guide, Rev A 6

5 Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Note for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.2 Grease Exchange for 1st-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.3 Grease Exchange for 2nd-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . 63

5.4 Grease Exchange for 3rd-Axis Speed Reducer. . . . . . . . . . . . . . . . . . . . . . . . . 64

5.5 Grease Replenishment for 4th-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . 66

5.6 Grease Replenishment for 5th- and 6th-Axes Speed Reducers . . . . . . . . . . . 67

5.7 Grease Replenishment for 6th-Axis Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

5.8 Grease Replenishment for 4th-Axis Cross Roller Bearing . . . . . . . . . . . . . . . . . 69

5.9 Removing the Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.10 Replacing the Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

5.11 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

6 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

6.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

6.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

6.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Adept Viper s1700D Robot User’s Guide, Rev A 7

Adept Viper s1700D Robot User’s Guide, Rev A 8

List of Figures

Figure 1-1. Robot Axis Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 1-2. Adept SmartController CX Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 2-1. Robot in Hoisting Sling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Figure 2-2. Using a Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Figure 2-3. Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 2-4. Robot Base Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Figure 2-5. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Figure 2-6. Mounting the Robot Baseplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Figure 2-7. Ceiling Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 2-8. Ground Point on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 2-9. Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Figure 2-10. Internal User I/O Wiring Harness and Air Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 2-11. Connector Pin Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 2-12. Installing External Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Figure 2-13. Allowable Load on Third Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Figure 2-14. Moment Arm Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 2-15. Wrist Tool Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 3-1. System Cable Diagram for Adept Viper s1700D Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 3-2. Adept PA-4 Power Chassis with sDAI (HP) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Figure 3-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 3-4. Typical 3-Phase 380-415 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 4-1. High Power Button on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 4-2. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 4-3. Manual Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Figure 5-1. Inspection Parts and Numbers (1 of 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Figure 5-2. Inspection Parts and Numbers (2 of 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Figure 5-3. Sealing Part of Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Figure 5-4. 1st-Axis Speed Reducer Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Figure 5-5. 2nd-Axis Speed Reducer Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Figure 5-6. 3rd-Axis Speed Reducer Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Figure 5-7. 4th-Axis Speed Reducer Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Figure 5-8. 5th- and 6th-Axes Speed Reducer Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Figure 5-9. 6th-Axis Gear Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Figure 5-10. 4th-Axis Cross Roller Bearing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Figure 5-11. Encoder Connector for 1st, 2nd, and 3rd Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Figure 5-12. Encoder Connector for 4th, 5th, and 6th Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 5-13. Removing Cover to Replace Encoder Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Figure 5-14. Battery Pack Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Figure 5-15. Hardstops (Optional) Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Figure 6-1. Adept Viper s1700D Side Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . 75

Figure 6-2. Adept Viper s1700D Top Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . 76

Figure 6-3. Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Adept Viper s1700D Robot User’s Guide, Rev A 9

List of Figures

10 Adept Viper s1700D Robot User’s Guide, Rev A

1.1 Product Description

Adept Viper s1700D™ Robots

The Adept Viper s1700D is a high-performance, six-axis robot. Its speed and precision
make it ideal for material handling, packaging, machine tending, and many other
operations requiring fast and precise automation.

Introduction 1

R = 4th axis (J4)

+

-

U = 3rd axis (J3)

-

+

L = 2nd axis (J2)

+

-

Robot base

S = 1st axis (J1)

+

-

+

-

T = 6th axis (J6)

+

Tool mounting flange

-

B = 5th axis (J5)

Figure 1-1. Robot Axis Identification

Adept Viper s1700D Robot User’s Guide, Rev A 11

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

Axis Naming Conventions

The robot’s six axes are referred to throughout this documentation as either Axis 1-6 or
Joint (J) 1-6. These terms are used interchangeably. For legacy reasons, these axes are
labeled on the robot as S-axis, L-axis, U-axis, R-axis, B-axis, and T-axis. The table below
shows how these current axis labels correspond to the legacy labels.

Table 1-1. Axis Naming Conventions

Current Axis Labels Legacy Axis Labels

1st Axis (J1) S-axis
2nd Axis (J2) L-axis
3rd Axis (J3) U-axis
4th Axis (J4) R-ax is
5th Axis (J5) B-axis
6th Axis (J6) T-axis

See Figure 1-1 on page 11 for a drawing that identifies the various axes.

Adept SmartController CX™

The SmartController CX motion controller 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 Motion Controller

12 Adept Viper s1700D Robot User’s Guide, Rev A

Dangers, Warnings, Cautions, and Notes

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 H and I
Amplifier modules to support the Adept Viper 1700D robot systems.

The H and I amplifiers in the Adept Viper 1700D robot system are controlled by the sDAI
(HP) 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).

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 s1700D Robot User’ s Guide, Re v A 13

Introduction

1.3 Safety Precautions

DANGER: The Adept Viper s1700D 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 15.

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 17.

14 Adept Viper s1700D Robot User’s Guide, Rev A

1.6 Intended Use of the Robot

The Adept Viper s1700D robot is intended for use in parts assembly and material
handling for payloads not to exceed 20 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 39.

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

Configuration Procedure, which is available in the Adept Document

Library.

Table 1-2. Installation Overview

Task to be Performed Reference Location

Intended Use of the Robot

1. Mount the robot on a flat, secure mounting surface. See Section 2.5 on page 26.

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

3. Install the PA-4 power chassis. See Section 3.5 on page 41.

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

5. Install the Power and Encoder cables between the
PA-4 and the robot.

6. Connect AC power to the PA-4 power chassis. See Section 3.6 on page 43.

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.

See Section 3.2 on page 40.

See Section 3.5 on page 41.

See Section 3.5 on page 41.

See Section 4.1 on page 47.

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

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.

Adept Viper s1700D Robot User’ s Guide, Re v A 15

Introduction

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

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.

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Viper
s1700D robot system. There are additional manuals that cover programming the system,
reconfiguring installed components, and adding other optional components; see Ta bl e

1-3. These manuals are available on the Adept Document Library CD-ROM shipped with

each system.

Table 1-3. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Adept SmartController
User’s Guide

Adept PA-4 Power Chassis
User’s Guide

Adept T2 Pendant User’s
Guide

16 Adept Viper s1700D Robot User’s Guide, Rev A

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

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

Describes the Adept T2™ pendant product.

Table 1-3. Related Manuals (Continued)

Manual Title Description

Adept IO Blox User’s Guide Describes the IO Blox™ product.

Manufacturer’s Declaration

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 cop ying, and other system
configuration procedures.

+

V+ Operating System User’s
Guide

Describes the V
operations, monit or 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 s1700D Robot User’ s Guide, Re v A 17

Introduction

18 Adept Viper s1700D Robot User’s Guide, Rev A

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 16).

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

Adept Viper s1700D Robot User’s Guide, Rev A 19

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 inverted (ceiling-mount)
Ambient temperature During operation: 0° to 45° C (32° to 113° F)

Humidity During operation: 20 to 80% (no moisture at constant

Vibration During operation: 4.9 m/s

Safe Installation
Environment

0.5 mm or less

During storage and transportation: -10° to 60° C (14° to 140° F)

temperature allowed).
During storage and transportation: 75% or less
(non-condensing).

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 tran smitters, 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 Section 2.6 on page 30.

20 Adept Viper s1700D Robot User’s Guide, Rev A

2.3 Transporting the Robot

Precautions

When transporting the robot, note the following:

• Check that the eyebolts are securely fastened.

• Use a wire sling or forklift that is strong enough to withstand the weight. (The
weight of the robot is approximately 268 kg (590 lb) including the shipping bolts
and brackets.)

• Attached eyebolts are designed to support the robot’s weight. Do not use them for
anything other than transporting the robot.

• Mount the shipping bolts and brackets for transporting the robot. See Figure 2-1

on page 22.

• Avoid exerting force on the arm or motor unit when transporting.

• Have at least two workers transport and install the robot.

Unpacking and Inspecting the Adept Equipment

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

CAUTION: Sling and crane or forklift operations must be

performed by authorized personnel only.

CAUTION: Avoid excessive vibration or shock during

transporting. The system consists of precision
components, so failure to observe this caution my
adversely affect performance.

DANGER: 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.

Using a Crane

As a rule, when removing the robot from the package and moving it, a crane should be
used. The robot should be lifted using wire slings threaded through the attached eyebolts.
Make sure the robot is fixed with shipping bolts and brackets before transporting, and lift
it into the position shown in Figure 2-1 on page 22.

Adept Viper s1700D Robot User’ s Guide, Re v A 21

Robot Installation

F

B

D

View F

A

View E

Eyebolt M12 (2 eyebolts)
(Delivered with the robot)

E

Eyebolt M12 (2 eyebolts)
(Delivered with the robot)

C

Figure 2-1. Robot in Hoisting Sling

22 Adept Viper s1700D Robot User’s Guide, Rev A

Unpacking and Inspecting the Adept Equipment

Using a Forklift

When using a forklift, the robot should be fixed on a pallet with shipping bolts and
brackets, as shown in Figure 2-2. Insert the forklift blades under the pallet and lift it. The
pallet must be strong enough to support the robot. Transportation of the robot must be
performed slowly in order to avoid overturning, slippage, or damage.

Bolts M16 (4 bolts)

Pallet

Forklift blade entry

Figure 2-2. Using a Forklift

Adept Viper s1700D Robot User’ s Guide, Re v A 23

Robot Installation

Enlarged View: Section A Enlarged View: Section C Enlarged View: Sections B and D

Parts Drawing for Section A Parts Drawing for Section B

Eyebolts M12 (2 eyebolts)
(delivered with the robot)

D

B

C

A

2.4 Shipping Bolts and Brackets

The robot is provided with shipping bolts and brackets at points A and B (see Figure 2-3).

Figure 2-3. Shipping Bolts and Brackets

24 Adept Viper s1700D Robot User’s Guide, Rev A

Shipping Bolts and Brackets

• The shipping brackets (A and B) are painted yellow (see Figure 2-3 on page 24).

• A hexagon socket head cap screw (M8) is attached at point A, and two hexagon
socket head cap screws (M6) are attached at point B, as fixing jigs (see Figure 2-3

on page 24).

• A rubber cushion is wedged at points C and D (see Figure 2-3 on page 24).

CAUTION: Before turning on the power, make sure that

the robot is securely mounted to its mounting base and
that the shipping bolts, brackets, and rubber cushions
have been removed. Then store these parts for future use
(in the event that the robot must be moved again).

Adept Viper s1700D Robot User’ s Guide, Re v A 25