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

Robot Installation

395.5

195.5

60

±0.1

60

200

200

±0.1

260

170

±0.1

335

375

A

25

250

313

335

375

Fitting surface

Fitting surface

±0.1

(for robot fixing)

View Ａ

18 dia. holes (4 holes)

12 dia. holes
(2 holes)

+0.018
0

Units: mm

2.5 Mounting the Robot

Types of Mounting

The robot can be mounted in two different ways: floor-mounted (standard) and
ceiling-mounted types are available. For ceiling mounting, see also “Mounting on a

Ceiling” on page 29.

Figure 2-4. Robot Base Dimensions

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

Shipping Bolts and Brackets

200±0.1

250

313

60

260±0.1

335
375

200±0.1

4X Ø 18 THRU

170±0.1

2X Ø12

335 375

+0.018

-0.0

Units are mm

Figure 2-5. Mounting Hole Pattern for Robot

Adept Viper s1700D Robot User’ s Guide, Re v A 27

Robot Installation

Mounting the Robot Base

Mount the robot on a base or foundation strong enough to support the robot and
withstand repulsion forces during acceleration and deceleration. Refer to Table 2-2 and

Table 2-3 to construct a solid foundation with the appropriate thickness to withstand

maximum repulsion forces of the robot. During installation, if the flatness is not correct,
the robot shape may change and its functional ability may be compromised. The flatness
for installation must be kept at 0.5 mm or less. Mount the robot base as described below.

Table 2-2. Maximum Repulsion Forces of Robot at Emergency Stop

Maximum horizontal rotating
torque
(direction of motion Axis 1)

Maximum vertical rotating
torque
(direction of motion Axes 2
and 3)

Table 2-3. Endurance Torque in Operation

Maximum horizontal torque
(direction of motion Axis 1)

Maximum vertical torque
(direction of motion Axes 2
and 3)

1. Fix the base plate with the anchor bolts on the floor. The base plate should be
rugged and durable. It is recommended that the thickness of the base plate be
32 mm or more and the anchor bolt size be M16 or larger.

2. Fix the robot base with the hexagon socket head cap screws on the base plate.

3. There are four mounting holes on the robot base. Fix the robot securely with the
hexagon socket head cap screws M16 (60 mm long recommended; tensile
strength: 1200 N/mm

2

or above). Tighten the bolts to 206 N•m torque.

8000 N•m
(5900 ft•lbf)

5000 N•m
(3688 ft•lbf)

1700 N•m
(1254 ft•lbf)

3775 N•m
(2784 ft•lbf)

NOTE: Tighten the anchor bolts and hexagon socket head cap screws
securely so that they do not work loose during operation.

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

Shipping Bolts and Brackets

Bolt M16 (4 bolts)

Spring washer

Washer

Robot base

25

40 mm
or more

Robot base

Anchor bolt (M16 or larger)

Baseplate

Figure 2-6. Mounting the Robot Baseplate

NOTE: See Figure 2-5 on page 27 for the mounting hole pattern.

Mounting on a Ceiling

NOTE: For ceiling-mounted installations, contact Adept.

For ceiling-mounted types, the following points apply:

Baseplate

• Affixing the robot base

• Precautions to prevent the robot from falling

See the sections below for details.

NOTE: For ceiling mounted installations, environmental resistance for the
main part of the robot does not conform to IP-54. For the wrist part, the
resistance conforms to IP-67.

Affixing the Robot Base

When performing a ceiling mount, use four M16 hexagon socket head cap screws (tensile

2

strength: 1200 N/mm

). Tighten to a torque of 206 N•m.

Precautions to Prevent the Robot from Falling

When performing a ceiling mount, for safety purposes, take measures to keep the robot
from falling. See Figure 2-7 for details.

Adept Viper s1700D Robot User’ s Guide, Re v A 29

Robot Installation

Robot base

Preventive support from falling

Hexagon socket head cap screws M16 (4 screws)
(Tensile strength: 1200 N/mm2)

Figure 2-7. Ceiling Mounting

2.6 Grounding the Robot

DANGER: Ground the grounding terminal of the robot

unit with a wire of 5.5 mm
must be less than 100 milliohms.

NOTE: Use a dedicated grounding wire and grounding electrode. Do not
share them with any other electric power or power equipment, such as a
welder. When metal ducts, metallic conduits, or distributing racks are
used for laying cable, ground in accordance with Electric Equipment
Technical Standards.

WAR NI NG : Wiring must be performed by authorized or

certified personnel. Failure to observe this caution may
result in fire or electric shock.

2

or more. Ground resistance

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

Grounding the Robot

A

5.5 mm2 or more

Bolt M8 (for grounding)

(delivered with the robot)

Figure 2-8. Ground Point on Robot

A

Section A-A

Adept Viper s1700D Robot User’ s Guide, Re v A 31

Robot Installation

2.7 Connectors on Robot Interface Panel

3BC

2BC

1BC

Connector details
(Robot side)

Figure 2-9. Robot Interface Panel

1BC - the Encoder cable from the PA-4 is installed at this connector.

2BC - the Power cable from the PA-4 is installed at this connector.

2

3BC - Internal user I/O wiring harness (0.2 mm

x 10 conductors and 1.25 mm2 x 6
conductors). Pins 1 to 16 are wired directly to corresponding pins 1 to 16 on the upper
arm. The connector pins are assigned as shown in Figure 2-11 on page 33. The user must
perform the wiring. The allowable current for cables is 3 A or less for each cable. The total
current value for pins 1 to 16 must be 40 A or less. See also Figure 2-10 on page 33.

AIR inlet - air piping connector (PT 3/8 with pipe plug) for driving peripheral devices on
the upper arm. See also Figure 2-10 on page 33. The maximum pressure for the air lines is
490 kPa (4.9 Bar) or less. The inside diameter is 6.5 mm.

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

2.8 Air Lines and Signal Wiring

Connector for internal user I/O

Prepare pin connector

wiring harness: JL05-2A20-29SC
(socket connector with a cap)

JL05-6A20-29P in the Adept
kit, P/N 90660-10010.

Exhaust port (air flow):
Tapped hole PT3/8 with
pipe plug

A

2BC

1BC

3BC

Air inlet: Tapped hole
PT3/8 with pipe plug

View A

Connector for internal
user I/O wiring harness:
JL05-2A20-29PC
(pin connector with a cap)
Prepare socket connector
JL05-6A20-29S in the Adept
kit, P/N 90660-10010.

Connectors on Robot Interface Panel

Connectors on 3rd axis

1

6

10

14

8
12

7

11

5

16

15

4

9

13

2

3

3
4
5

1
2

9
10
11

16

15

13
14

12

6

Pins used

Internal user I/O wiring harness : 0.2 mm

2

, 8 lead wires

: 1.25 mm

2

, 6 lead wires

(1.25 mm2)
(1.25

mm2)

(1.25

mm2)

(1.25

mm2)

(1.25

mm2)

7
8

(+24V: for shock sensor)

(Shock sensor signal input)

1

6

10

14

8
12

7

11

5

16

15

4

9

13

2

3

3
4
5

1
2

9

10

11

16

15

13
14

12

6

Pins used

(1.25 mm2)
(1.25

mm2)

(1.25

mm2)

(1.25

mm2)

(1.25

mm2)

7
8

(Open)
(Open)

Internal user I/O wiring harness : 0.2 mm2, 8 lead wires
: 1.25 mm

2

, 6 lead wires

Connector for Internal User I/O Wiring Harness

on the Robot Interface Panel

Connector for Internal User I/O Wiring Harness

on the 3rd Axis-Arm

Connectors on Robot Interface Panel

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

Figure 2-11. Connector Pin Numbers

Adept Viper s1700D Robot User’ s Guide, Re v A 33

Robot Installation

W1

W2

70

70

220

A

View A

Units: mm

Z-coordinate
direction

Center of 3rd-axis rotation

Limited dimension
of Z-coordinate:
400 at a maximum

X-coordinate
direction

Tapped holes M6
(depth: 10)
(pitch: 1.0) (4 holes)

External Mounting Locations on Robot

When attaching external equipment to the 3rd axis, install the equipment as described in
this section.

Allowable Load

The maximum allowable load on the 3rd axis is 31 kg, including the wrist load. For
example, when the mass installed on the wrist point is 20 kg, the allowable mass that can
be installed on the upper arm is 11 kg.

Installation Position

Observe the limitations on the installation position shown in Figure 2-12. Figure 2-13
shows the distance between the center of the 3rd-axis rotation and the load gravity.

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

Figure 2-12. Installing External Equipment Mounts

Weight W2

(kg)

30

20

10

W1=10kg

W1=16kg

W1=20kg

W1=6kg

*1

Designing End-Effectors

*1 In this case, unbalanced
moment is not permitted

0

-200 -100

Distance between Center of 3rd-axis
Rotation and Load Gravity (Ｘ direction)

1000

Figure 2-13. Allowable Load on Third Axis

2.9 Designing End-Effectors

Design an end-effector such that it is in compliance with items described in this section.

CAUTION: If the end-effector design precautions are not

observed, the clamped parts of the robot may become
loose, rattle, or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.

Mass of End-Effector

Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot. The total mass includes
the wiring, tubing, etc.

(mm)500200 300 400

Maximum total mass of the end-effector (including workpiece) must be less than or equal
to the maximum payload capacity (20 kg).

If force is applied to the 5th axis instead of the payload, force on the 4th, 5th, and 6th axes
should be within the values shown in Table 2-4. Contact Adept Customer Service for
additional information.

Adept Viper s1700D Robot User’ s Guide, Re v A 35

Robot Installation

L

L

105

T

B

400

300

W=6Kg

W=10Kg

200100

200

100

0

W=20Kg

W=16Kg

300

L

T

（mm）

LB （mm）

5th-axis rotation center line

6th-axis, 4th-axis
rotation center line

Load gravity
position

Table 2-4. Allowable Moment and Inertia

Axis

Moment N•m (ft•lbf)

a

Inertia kg•m

2

4th axis 39.2 (29.0) 1.05
5th axis 39.2 (29.0) 1.05
6th axis 19.6 (14.5) 0.75

a

(): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in Figure 2-14.

The allowable inertia is calculated when the moment is at the maximum. Contact Adept
Customer Service when only load moment is small and inertia moment is large. Also,
contact Customer Service when the load mass is combined with an outside force.

Figure 2-14. Moment Arm Rating

Wrist Tool Flange

See Figure 2-15 for the dimensions of the wrist tool flange. To see the alignment marks, it
is recommended that the attachment be mounted inside the fitting. The fitting depth of
the inside and outside fittings must be 5 mm or less.

NOTE: Use thinner or light oil to clean off the anti-corrosive material on
the tool flange area prior to mounting the end-of-arm tooling.

NOTE: Mount the attachment with the mounting bolts (length: 10 mm or
less). Failure to due this may affect robot performance.

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

Alignment mark

0.5

6

6

+0.021

0

25 dia.

A

0

-0.039

50 dia.

Designing End-Effectors

Units: mm

45°

Tapped holes M6
(depth: 10)
(pitch: 1.0) (4 holes)

P.C.D40

View A

Figure 2-15. Wrist Tool Flange

+0.012

6 dia. hole

0

(depth: 6)

Adept Viper s1700D Robot User’ s Guide, Re v A 37

Robot Installation

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

CAUTION

HIGH

VOLTAGE

INSIDE

B
R
A
K
E

STATUS

SmartServo

1

2

R
S
2
3
2

E
X
P
I
O

X
S
L
V

C
N
P
G
1
2
3

C
N
P
G
4
5
6

C
N
2
5

C
N
2
9

DAI

s

adept
technology, inc.

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O

N

T
R
O
L

CH2CH1

M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T

K AMP K AMP J AMP

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O

N

T
R
O
L

CH2CH1

M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O

N

T
R
O
L

CH2CH1

M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T

Ethernet to PC

IEEE 1394 Cable

Adept PA-4
Power Chassis

Adept
SmartController CX

Adept Viper s1700D
Robot

User-Supplied
Power Supply

200-240 VA C 3-Phase
or
380-415 VA C 3-Phase

Controller (XFP) to
Front Panel (XFP)

Front Panel

T2 Pendant
(optional)

XSYS cable

24VDC Power Cable
(User-Supplied)

User-supplied PC
running Adept ACE

Terminator
Installed

User-Supplied
Ground Wire

Power Cable

Encoder Cable

H Amp

I Amp

H Amp

sDAI Module
(HP)

HP

STOP

R

R

ON

SmartServo IEEE-1394

1 2 3 4

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

3.1 System Cable Diagram

System Installation 3

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

Adept Viper s1700D Robot User’s Guide, Rev A 39

System Installation

3.2 Installing the SmartController

Refer to the Adept SmartController User’s Guide for complete information on installing
the Adept SmartController. This list summarizes the main steps.

1. Mount the SmartController and Front Panel.

2. Connect the Front Panel to the SmartController.

3. Connect the optional pendant to the SmartController, if included.

4. Connect user-supplied 24 VDC power to the controller.

5. Install a user-supplied ground wire between the SmartController and ground.

6. Install the Adept ACE PC software on the user-supplied PC. This includes
connecting the supplied Ethernet crossover cable between the user-supplied PC
and the Ethernet port on the SmartContoller.

3.3 Installing the Adept ACE Software

The Adept ACE software is installed from the Adept ACE software CD-ROM.

1. Insert the CD-ROM into the CD-ROM drive of your PC.

If Autoplay is enabled, the Adept software CD-ROM menu is displayed. If
Autoplay is disabled, you will need to manually start the CD-ROM.

2. Especially if you are upgrading your Adept ACE software installation: from the
Adept ACE software CD-ROM menu, click Read Important Information.

3. From the Adept ACE software CD-ROM menu, select:

Install the Adept ACE Software

The Adept ACE Setup wizard opens.

4. Follow the online instructions as you step through the installation process.

5. When the installation is complete, click Finish.

6. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to
close the menu.

NOTE: You will have to restart the PC after installing the Adept ACE
software.

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

Connecting the PC to the SmartController

3.4 Connecting the PC to the SmartController

The Adept SmartController motion controller must be connected to a user-supplied PC or
the Adept SmartVision EX processor for setup, control, and programming.

• Connect an Ethernet crossover cable between the PC and the SmartController
motion controller

or

• Use two standard Ethernet cables with a network hub or switch in place of the
Ethernet crossover cable.

NOTE: Do not use an Ethernet crossover cable with a network hub or
switch.

For more details, refer to the Adept ACE User’s Guide.

3.5 Installing the PA-4 Power Chassis

Refer to the Adept PA-4 Power Chassis User’s Guide for complete information on the
PA-4 chassis. This list summarizes the main steps.

1. Mount the PA-4 chassis.

NOTE: For the PA-4 in an Adept Viper system, only the panel-mounting
option is available.

2. Locate these cables, shipped in the cable/accessories box.

• IEEE 1394 cable (length 4.5 M)

• XSYS cable (length 4.5 M)

• Power cable (length 7 M)

• Encoder cable (length 7 M)

NOTE: The IEEE 1394 and XSYS cables should be routed away from the
AC power and robot Power and Encoder cables.

3. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on

the SmartController, and install the other end into the SmartServo port 1
connector on the sDAI module in the PA-4. See Figure 3-1 on page 39 and Figure

3-2 on page 42. Make sure the plug is oriented correctly to the connector.

4. Install the XSYS cable between the XSYS connector on the SmartController, and

the XSLV connector on the sDAI module, and tighten the latching screws.

5. Install the Power cable between the 2BC connector on the robot and the power

connector shown in Figure 3-2 on the PA-4. Insert the connector and then push
down the lever until you hear a click.

6. Install the Encoder cable between the 1BC connector on the robot and the encoder

connector shown in Figure 3-2 on the PA-4. Insert the connector and then push
down the lever until you hear a click.

Adept Viper s1700D Robot User’ s Guide, Re v A 41

System Installation

Latching Screws

Interface Box

Power Connector

H-Amp

I-Amp

H-AMP I-AMP H-AMP

DO NOT REMOVE OR INSTALL THIS

DO NOT REMOVE OR INSTALL THIS

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

HIGH VOLTS ON

PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT

CH1

CH2

A
M
P
L
I
F
I
E
R

C
O
N
T
R
O
L

M
O
T
O
R

P
O
W
E
R

O
U
T
P
U
T

CH2CH1

DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED

IS COMPLETELY DISTINGUISHED

CH1

CH2

MODULE UNLESS HIGH VOLTS LED

IS COMPLETELY DISTINGUISHED

HIGH VOLTS ON

PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT

CH1

CH2

A
M
P

L
I

F

I
E
R

C
O
N
T
R
O

L

M
O
T
O
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P
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W
E
R

O
U
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P
U
T

adept
technology, inc.

CH2CH1

HIGH VOLTS ON

PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT

A
M
P

L
I

F

I
E
R

C
O
N
T
R
O

L

H-Amp

B
R
A
K
E

1

SmartServo

2

C
N
P
G
1
2
3

CH2CH1

s

DAI

CAUTION
VOLTAGE

INSIDE

sDAI Module (HP)

Brake Release

HIGH

Status Panel

STATUS

R
S
2

RS-232

3
2

SmartServo 1 & 2

E
X
P
I

EXPIO

O

XSLV

X
S
L
V

C
N
P
G
4
5
6

C
N
2
5

C
N
2
9

Encoder Connector

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

NOTE: In Adept Viper s1700D systems, the sDAI module must be an HP

version. A standard sDAI will not work.

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

Installing the PA-4 Power Chassis

3.6 Connecting 3-Phase AC Power to PA-4

PA-4 3-Phase Power Requirements

Table 3-1. Adept PA-4 Power Chassis 3-Phase Power Requirements

Nominal
Voltage
Range

Frequency/
Phasing

Minimum
Operating
Voltage

Maximum
Operating
Voltage

Recommended
External
Circuit Breaker
(user-supplied)

200 to 240
VAC

380 to 415
VAC

50-60Hz,
3-phase

50-60Hz,
3-phase with

180 VAC 245 VAC 20 amps

342 VAC 424 VAC 20 amps

neutral

a

Table 3-2. Typical Robot Power Consumption

Robot Move

No load - Adept cycle

Adept Viper
s1700D

20.0 kg - Adept cycle

Average Power
(W)

c

c

429 1750
532 2498

Peak Power

b

(W)

20.0 kg - all joints move 1306 6140

a

Typical power data is with 380 VAC, 60Hz, 3-phase nominal input.

b

For short durations (100 ms)

c

Adept cycle: the robot tool performs continuous path, straight-line motions 25 mm up, 305 mm
over , 25 mm down, and back along the same path. COARSE is enabled and BREAKs are used
at each end location. Not achievable over all paths.

The Adept PA-4 power chassis can be shipped from the factory configured for either
3-phase 200-240

VAC or 380-415 VAC operation, depending on your sales order.

A voltage setting label is located on the front of the chassis below the circuit breaker. The
voltage setting is also shown on the ID label on the side of the chassis. Verify that the
setting matches your facility power before installation.

If you need to change the AC voltage setting from 200-240

versa

, see the Adept PA-4 Power Chassis User’s Guide.

VAC to 380-415 VA C, o r vic e

WAR NI NG : Verify the voltage settings are correct before

turning on power. Operating the Adept PA-4 power
chassis with incorrect voltage settings can cause damage
or injury.

Adept Viper s1700D Robot User’ s Guide, Re v A 43

System Installation

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

The user end of the cord is unterminated. Connect each conductor of the power cord
securely to your AC power source, using the color code shown in Table 3-3. The
installation must meet all applicable European, international, and national standards and
regulations.

Table 3-3. 3-Phase AC Power Cord Specifications for PA-4

Cord length 3 meters ±0.1 m (9 ft 10 in ±4 in)
Cord rating 25 amps
Number and size of

5 x 2.5 mm

2

conductor size

Color code: 200 - 240 VAC

line 1
line 2
line 3

no connection

ground

black

black (or gray)

a

brown

blue (must be insulated)

green/yellow

Color code: 380 - 415 VAC

line 1
line 2
line 3
neutral
ground

a

Note: The two black wires can also be one black and one gray wire, but the
functionality is the same for either case.

black

black (or gray)

brown

blue

green/yellow

a

DANGER: Electrical hazard!

The installation of the power cord must be done by a
skilled person. The power supply can injure or kill the
person who installs the cord. An incorrect installation can
injure or kill anyone that touches the equipment in the
robot workcell.

The protective ground conductor (colored green/yellow) of the Adept PA-4 power
chassis is internally connected to the accessible metal parts of the power chassis. To
ensure electrical-shock protection, the ground conductor must be connected to a properly
grounded power source.

WAR NI NG : Ensure that a proper protective ground

connection exists before turning on the power.

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

Installing the PA-4 Power Chassis

Typical 3-Phase AC Power Installation Diagrams

L1

3Ø
200–240V~
20A

PE

PE

L3L3L2L2L1

Adept PA-4
3Ø 200–240V~

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

3Ø
380–415V~
20A

L1

PEPENNL3L3L2L2L1

Adept PA-4
3Ø 380–415V~

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

Adept Viper s1700D Robot User’ s Guide, Re v A 45

System Installation

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

System Operation 4

4.1 Commissioning the System

Turning on the robot system for the first time is known as “commissioning the system.”
Follow the steps in this section to safely bring up your robot system. The steps include:

• Verifying installation, to confirm all tasks have been performed correctly

• Starting up the system by turning on power for the first time

• Verifying all E-Stops in the system function correctly

• Moving each axis of the robot to confirm it moves in the proper directions

Verifying Installation

Verifying that the system is correctly installed and that all safety equipment is working
correctly is an important process. Before using the robot, make the following checks to
ensure that the robot and controller have been properly installed.

DANGER: After installing the robot, you must test it before

you use it for the first time. Failure to do this could cause
death or serious injury or equipment damage.

Mechanical Checks

• Verify that the robot is mounted level and that all fasteners are properly installed
and tightened.

• Verify that any end-of-arm tooling is properly installed.

• Verify that all other peripheral equipment is properly installed and in a state
where it is safe to turn on power to the robot system.

System Cable Checks

Verify the following connections:

• Front Panel to the SmartController.

• Pendant to the SmartController, via the pendant adapter cable.

• User-supplied 24 VDC power to the controller.

• User-supplied ground wire between the SmartController and ground.

• One end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the
SmartController, and the other end into the SmartServo port 1 connector on the
robot interface panel.

Adept Viper s1700D Robot User’s Guide, Rev A 47

System Operation

• XSYS cable between the robot interface panel XSLV safety interlock connector and
XSYS connector on the SmartController, and the latching screws tightened.

• User-supplied AC power to the PA-4.

User-Supplied Safety Equipment Checks

Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.

System Start-up Procedure

Once the system installation has been verified (see “Verifying Installation” on page 47),
you are ready to start up the system.

1. Switch on AC power to the PA-4.

2. Switch on the 24 VDC power to the SmartController.

3. Turn on power to the robot.

4. Follow the instructions, beginning with Starting the Adept ACE Software, in the

following section.

Running the Adept ACE Software

Starting the Adept ACE Software

The robot should be on, and the status panel should display OK before proceeding.

1. Turn on the PC and start the Adept ACE software.

• Double-click the Adept ACE icon on your Windows desktop

or, from the Windows Start menu bar,

•Select Start > Programs > Adept Technology > Adept ACE > Adept ACE.

2. On the Adept ACE Startup menu, click New SmartController Workspace.

3. Click-select the SmartController you want to use, and click OK.

Enabling High Power

After you have started the Adept ACE software and connected to the controller, enable
high power to the robot motors:

1. From the Adept ACE main menu, click the Enable High Power icon:

2. If the High Power button on the Front Panel is blinking, press and release it.

NOTE: The use of the blinking High Power button can be configured (or
eliminated) in software. Your system may not require this step.

The Front Panel, which is mounted just outside the workcell safety barrier, is
shown in the following figure. If enabled, the High Power button must be pressed
while blinking (default time-out is 10 seconds). If the button stops blinking, you
must enable power again.

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

Figure 4-1. High Power Button on Front Panel

Switch, in
Auto Mode

Press High Power button
when blinking

This step turns on high power to the robot motors and calibrates the robot.

• The amplifier status LED blinks green rapidly
(a slow green blink has a different meaning).

In addition, for Adept IP-65 Viper robots, the lamps on the robot glow solid
amber.

• The status panel on the robot or amplifier chassis displays ON.

Verifying E-Stop Functions

Learning to Program the Robot

Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied).
Test each mushroom button, safety gate, light curtain, etc., by enabling high power and
then opening the safety device. The High Power push button/light on the Front Panel
should go out.

Verify Robot Motions

Use the pendant to test the motion of each axis on the robot to confirm it moves in the
proper directions. Refer to the Adept SmartController User’s Guide and the T2 Pendant

User’s Guide for complete instructions on using the pendant.

NOTE: If the optional pendant is not installed in the system, you can
move the robot using the Robot Jog Control in the Adept ACE software.
For details, see the Adept ACE User’s Guide.

4.2 Learning to Program the Robot

To learn how to use and program the robot, see the Adept ACE User’s Guide, which
provides information on robot configuration, control and programming through the
Adept ACE software "point and click" user interface.

For V+ programming information, refer to the following optional manuals:

• V+ Language User’s Guide

• V+ Language Reference Guide

• V+ Operating System Reference Guide

NOTE: When using an Adept pendant with an Adept Viper robot, the
Free Mode is disabled for safety reasons.

Adept Viper s1700D Robot User’ s Guide, Re v A 49

System Operation

CAUTION
HIGH
VOLTAGE
INSIDE

B
R
A
K
E

STATUS

SmartServo

1

2

R
S
2
3
2

E
X
P
I
O

X
S
L
V

C
N
P
G
1
2
3

C
N
P
G
4
5
6

C
N
2
5

C
N
2
9

DAI

s

adept
technology, inc.

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L

CH2CH1

M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T

H-AMP I-AMP H-AMP

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L

CH2CH1

M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T

LOW VOLTS ON

HV SAG/OVER TEMP FAULT

DO NOT REMOVE OR INSTALL THIS

SHORT FAULT

OPEN CKT FAULT

MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED

PWM ON

CH1

HIGH VOLTS ON

CH2

A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L

CH2CH1

SF

IEEE-1394

X2

SC-DIO

LINK

*S/N 3563-XXXXX*

X1

24V 0.5A

R

OK

X4

- + - +

1.1 1.2
XDC1 XDC2

X3

R

ON

SmartServo IEEE-1394

1 2 3 4

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

XDC1XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Optional
sDIO #1

Adept

SmartController

Adept PA-4

Optional
IO Blox Device

To EXPIO
on sDAI (HP)

XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008

IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112

sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064

3BC Connector
For input signals to control
internal user-supplied robot
solenoids and general user
I/O. Signals can come from
IO Blox device or XDIO
on SmartController.

Adept Viper

s1700D Robot

%&

%&

%&

4.3 Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See Table 4-1 and

Figure 4-2.

Table 4-1. Digital I/O Connection Options

Product I/O Capacity For more details

XDIO Connector on
SmartController

Optional IO Blox Device,
connects to sDAI in PA-4

Optional sDIO Module,
connects to controller

12 inputs

8 outputs
8 inputs, 8 outputs per device; up

to four IO Blox devices per robot
32 inputs, 32 outputs per module;

up to four sDIO per system

see Adept SmartController

User’s Guide

see Adept IO Blox User’s

Guide

see Adept SmartController

User’s Guide

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

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

Learning to Program the Robot

Table 4-2. Default Digital I/O Signal Configuration, Single Robot System

Location Type Signal Range

Controller XDIO connector Inputs 1001 - 1012

Outputs 0001 - 0008

sDIO Module 1 Inputs 1033 - 1064

Outputs 0033 - 0064

sDIO Module 2 Inputs 1065 - 1096

Outputs 0065 - 0096

sDIO Module 3
(recommended)

sDIO Module 4
(recommended)

IO Blox 1 Inputs 1113 - 1120

IO Blox 2 Inputs 1121 - 1128

Inputs 1201 - 1232
Outputs 0201 - 0232
Inputs 1233 - 1264
Outputs 0233 - 0264

Outputs 0105 - 0112

Outputs 0113 - 0120

IO Blox 3 Inputs 1129 - 1136

Outputs 0121 - 0128

IO Blox 4 Inputs 1137 - 1144

Outputs 0129 - 0136

Adept Viper s1700D Robot User’ s Guide, Re v A 51

System Operation

4.4 Status Panel Codes on sDAI (HP) Module

The status panel display on the sDAI module in the PA-4 displays alpha-numeric codes
that indicate the operating status of the robot, including detailed fault codes. See Ta bl e

4-3 for definitions of the status codes. These codes provide details for quickly isolating

problems during troubleshooting. See the Adept PA-4 Power Chassis User’s Guide for
additional information on the sDAI module.

Table 4-3. Status Panel Codes

LED Status Code LED Status Code

OK No Fault h# High Temp Amp (Joint #)
ON High Power ON Status H# High Temp Encoder (Joint #)
MA Manual Mode hV High Voltage Bus Fault
24 24V Supply Fault I# Initialization Stage (Step #)
A# Amp Fault (Joint #) M# Motor Stalled (Joint #)
B# IO Blox Fault (Address #) NV Non-Volatile Memory
AC AC P ower Fault P# Power System Fault (Code #)
D# Duty Cycle Exceeded (Joint #) PR Processor Overloaded
E# Encoder Fault (Joint #) RC RSC Fault
ES E-Stop SWWatchdog Timeout
F# External Sensor Stop S# Safety System Fault (Code #)
FM Firmware Mismatch T# Safety System Fault

(Code 10 + #)

FW IEEE 1394 Fault V# Hard Envelope Error (Joint #)

For more information on status codes, go to the Adept Document Library on the Adept
Web site, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept
Status Code Summary document.

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

Installing and Using the Brake Release Box

4.5 Installing and Using the Brake Release Box

The manual brake release box can be used to release the brakes on a specific axis of the
robot. This procedure describes how to install and use this device. See Figure 4-3 on page

53.

WAR NI NG : Secure the robot prior to releasing the brakes

on axes 2 and 3, to prevent injury to personnel or
equipment damage.

1. Make sure that high power is disabled (off).

2. Connect the 15-pin male D-sub connector into the 15-pin female D-sub connector
marked Brake on the sDAI board.

3. Press one of the E-Stops (Pendant, Front Panel, or external).

4. Using the axis selector switch, select the axis that you want to release the brake.

5. Depress the brake release push button, to release the brake.

6. Repeat steps 4 and 5 above for releasing the brakes on another axis.

NOTE: When the Status LED (Green) is on, it indicates that the circuit is
enabled, when the brake release push button is pressed.

3

2

Axis selector switch

4

1

5

6

OFF

BRAKE

RELEASE

Status LED

Brake Release
Pushbutton

15-pin male
D-Sub connector

Figure 4-3. Manual Brake Release Box

Adept Viper s1700D Robot User’ s Guide, Re v A 53

System Operation

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

Maintenance and Inspection 5

5.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism will be able to
function for a long period, but also to prevent malfunctions and assure safe operation.
Inspection intervals are displayed in six levels. Conduct periodic inspections according to
the inspection schedule in Table 5-2 on page 56.

In Table 5-2, the inspection items are classified into three types of operations: operations
which can be performed by personnel authorized by the user, operations which can be
performed by trained personnel, and operations which can be performed by service
company or factory-trained personnel. Only specified personnel are to do inspection work

WAR NI NG : Before maintenance or inspection, make sure

to switch off the main power supply, and place a warning
sign (for example, Do not switch on the power). Failure to
observe this warning may result in electric shock or injury.

WAR NI NG : Maintenance and inspection must be

performed by specified personnel. Failure to observe this
caution may result in electric shock or injury.

CAUTION: For disassembly or repair, contact your Adept

representative.

CAUTION: The battery pack must be connected before

removing the detection connector when performing
maintenance and inspection. Failure to observe this
caution may result in the loss of home-position data.

NOTE: The inspection interval must be based on the servo power supply
ON time.

NOTE: The inspection schedules were developed for applications where
the robot was used for arc welding work. For different or special
applications, the inspection process should be developed on a
case-by-case basis. For axes that are used very frequently (handling
applications, etc.) it is recommended that inspections be conducted at
shorter intervals. Contact Adept Customer Service for information.

Adept Viper s1700D Robot User’s Guide, Rev A 55

Maintenance and Inspection

Table 5-1. Daily Inspection Items

a

Items

1 Alignment

mark

2 External

cables
and
harnesses

3 Robot

Work
Area

Daily

•

•

•

Schedule - Hours

1k 6k 12k 24k 36k

Method Operation

Visual Check for

damage on
each axis via
the joint
alignment
mark at the
“home”
position.

Visual Check for

damage to the
external
cables and
harnesses.

Visual Clean the work

area and robot
of any dust or
debris; check
for any signs
of damage.

Inspection Charge

Specified
Person

Licensee Service

Company

•••

•••

•••

4 Axes 1, 2,

and 3
motors

a

Inspection item numbers correspond to the numbers in Figure 5-1 on page 60 and Figure 5-2 on

page 61.

b

The occurrence of grease leakage indicates the possibility that grease has seeped into the motor.
This can cause a major breakdown. Contact your Adept representative.

a

Items

5 Robot

base
mounting
bolts

•

Table 5-2. Inspection Items

Schedule - Hours

Daily

1k 6k 12k 24k 36k

•

Visual Check for

grease
leakage.

Method Operation

Wrench Tighten loose

bolts. Replace
if necessary.

b

•••

Inspection Charge

Specified
Person

Licensee Service

•••

Company

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

Table 5-2. Inspection Items

Inspection Schedule

a

Items

6Cover

mounting
screws

7 Connector

base

8 Axes 5

and 6
timing
belts

9 Wire

harness in
robot
(Axes 1,
2, and 3)

(Axes 4,
5, and 6)

Daily

Schedule - Hours

1k 6k 12k 24k 36k

•

•

•

•

Method Operation

Phillips
screw­driver,
Wrench

Manual Check for

Manual Check for belt

Visual,
Multi­meter

Tighten loose
bolts. Replace
if necessary.

loose
connectors.

tension and
wear.

Check for
conduction
between the
main
connector of
the connector
base and the
intermediate
connector by
manually
shaking the
wire. Check
the protective
spring for

b

wear.

Inspection Charge

Specified
Person

Licensee Service

Company

•••

•••

••

••

10 Wire

harness in
robot
(Axes 5
and 6)

Replace

c

•

Visual,
Multi­meter

•

Check for
conduction
between
terminals
Check the
protective
spring for

c

wear.
Replace

d

•

•

Adept Viper s1700D Robot User’ s Guide, Re v A 57

Maintenance and Inspection

Table 5-2. Inspection Items

Items

11 Battery

pack in
robot

12 Axis 1

speed
reducer

13 Axes 2

and 3
speed
reducer

Schedule - Hours

a

Daily

1k 6k 12k 24k 36k

••

••

Method Operation

•

Grease
Gun

Grease
Gun

Replace the
battery unit.

Check for
malfunction.
Exchange
grease
(12000 H
cycle). See

Section 5.2 on

page 62.

Check for
malfunction.
Exchange
grease
(12000 H
cycle). See

Section 5.3 on

page 63 and

Section 5.4 on

page 64.

d

e

Inspection Charge

Specified
Person

Licensee Service

••

••

••

Company

14 Axes 4, 5,

and 6
speed
reducer

15 Axis 6

gear

•

•

Grease
Gun

Grease
Gun

Check for
malfunction
(replace if
necessary).
Supply grease

e

(6000 H

cycle). See

Section 5.5 on

page 66 and

Section 5.6 on

page 67.

Check for
malfunction
(replace if
necessary).
Supply grease

e

(6000 H

cycle). See

Section 5.7 on

page 68.

••

••

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

Table 5-2. Inspection Items

Inspection Schedule

a

Items

16 Axis 4

cross
roller
bearing

17 Overhaul

Daily

Schedule - Hours

1k 6k 12k 24k 36k

•

Method Operation

Grease
Gun

Check for
malfunction
(replace if
necessary).
Supply grease

e

(6000 H

cycle). See

Section 5.8 on

page 69.

Inspection Charge

Specified
Person

Licensee Service

••

••

a

Inspection item numbers correspond to the numbers in Figure 5-1 on page 60 and Figure 5-2 on

page 61.

b

When checking for conduction with a multimeter, connect the battery to “BAT” and “OBT” of the
connectors on the motor side for each axis, and then remove the connectors from the motor on the
detector side for each axis. Otherwise, the home position will be lost. (Refer to Section 5.9 on

page 69 for more information.)

c

Replace the wire harness in the robot at the 24000 H inspection.

d

Refer to Table 5-3 for grease information.

Company

Table 5-3. Inspection Parts and Grease Used

No. Grease Used Inspected Parts

12, 13 VIGO Grease RE No. 0 Axes 1, 2, and 3 speed reducers
14, 15 Harmonic Grease SK-1A Axes 4, 5, and 6 speed reducer s

Axis 6 gear

16 Alvania EP Grease 2 Axis 4 cross roller bearing

The numbers in the above table correspond to the item numbers in Table 5-2, “Inspection

Items,” on page 56.

Adept Viper s1700D Robot User’ s Guide, Re v A 59

Maintenance and Inspection

1

1st-axis

4

2

5

1st-axis

8

8

6th-axis

5th-axis

Note: The robot is in the home position.

3rd-axis

10

1

13

11

1

2nd-axis

9

13

12

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

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

5th & 6th axes

14

4th-axis

Inspection Schedule

14

1

Note: The robot is in the home position.

4

15

16

4

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

3rd-axis

7

4

11

Note for Maintenance

The motor and encoder units are provided with the wrist unit. To prevent fumes from
penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore,
if the wrist cover is disassembled, reseal with sealing bond (silicon caulk). Contact Adept
Customer Service for more information.

Cover

Cover

Cover jointing face

Cover jointing face

Figure 5-3. Sealing Part of Wrist Unit

Adept Viper s1700D Robot User’ s Guide, Re v A 61

Maintenance and Inspection

1st-axis speed reducer

Grease inlet
(Hexagon socket head plug PT1/8)

Grease exhaust port

(Hexagon socket
head plug PT1/8)

Grease exhaust port
(Hexagon socket head plug PT1/8)

5.2 Grease Exchange for 1st-Axis Speed Reducer

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

CAUTION: For ceiling-mounted robots, the exhaust port

and grease inlet are inverted.

1. Remove the hexagon socket head plug (PT1/8) on the grease exhaust port.

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

Grease Exchange for 2nd-Axis Speed Reducer

WAR NI NG : If grease is added without removing the

hexagon socket head plug (PT1/8,) the grease will go
inside the motor and may damage it. It is absolutely
necessary to remove the plug.

2. Remove the hexagon socket head plug (PT1/8) on the grease inlet and install the
grease zerk (PT1/8). (The grease zerk (PT1/8) is delivered with the robot.)

3. Inject the grease (approximately 1800 cc, VIGO Grease RE No. 0) into the grease
inlet using a grease gun. The grease exchange is complete when new grease
appears in the grease exhaust port. The new grease can be distinguished from the
old grease by color.

4. Move the 1st-axis for a few minutes to discharge the excess grease.

5. Remove the grease zerk on the grease inlet.

6. Wipe the grease exhaust port with a cloth and reinstall the plugs on the grease
inlet and the grease exhaust port. Prior to installation, coat the screw threads with
Three Bond 1206C.

5.3 Grease Exchange for 2nd-Axis Speed Reducer

2nd-axis arm

Grease inlet
(Hexagon socket head
cap screw M6)

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

Grease exhaust port
(Hexagon socket head plug PT1/8)

2nd-axis speed reducer

CAUTION: For ceiling-mounted robots, the exhaust port

and grease inlet are inverted.

Adept Viper s1700D Robot User’ s Guide, Re v A 63

Maintenance and Inspection

3rd axis arm

3rd-axis
speed
reducer

Grease inlet

Grease exhaust port
(Hexagon socket head
cap screw M6)

(Hexagon socket head
plug PT1/8)

1. Position the 2nd-axis arm vertically to the ground.

2. Remove the hexagon socket head plug (PT1/8) on the grease exhaust port.

WAR NI NG : If grease is added without removing the

hexagon socket head plug (PT1/8), the grease will go
inside the motor and may damage it. It is absolutely
necessary to remove the plug.

3. Remove the hexagon socket head cap screw (M6) on the grease inlet and install
the grease zerk (A-MT6X1).

4. Inject the grease (approximately 500 cc, VIGO Grease RE No. 0) into the grease
inlet using a grease gun. The grease exchange is complete when new grease
appears in the grease exhaust port. The new grease can be distinguished from the
old grease by color.

5. Move the 2nd-axis for a few minutes to discharge the excess grease.

6. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head
cap screw (M6). Prior to installation, coat the screw threads with Three Bond
1206C.

7. Wipe the grease exhaust port with a cloth and reinstall the hexagon socket head
plug on the grease exhaust port. Prior to installation, coat the screw threads with
Three Bond 1206C.

5.4 Grease Exchange for 3rd-Axis Speed Reducer

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

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

Grease Exchange for 3rd-Axis Speed Reducer

CAUTION: For ceiling-mounted robots, the exhaust port

and grease inlet are inverted.

1. Position the 3rd-axis arm horizontally to the ground.

2. Remove the hexagon socket head cap screw on the grease exhaust port.

WAR NI NG : If grease is added without removing the

hexagon socket head cap screw, the grease will go inside
the motor and may damage it. It is absolutely necessary to
remove the plug.

3. Remove the hexagon socket head plug (PT 1/8) on the grease inlet and install the
grease zerk (A-MT6X1).

4. Inject the grease (approximately 300 cc, VIGO Grease RE No. 0) into the grease
inlet using a grease gun. The grease exchange is complete when new grease
appears in the grease exhaust port. The new grease can be distinguished from the
old grease by color.

5. Move the 3rd-axis for a few minutes to discharge the excess grease.

6. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head
cap plug (PT 1/8). Prior to installation, coat the screw threads with Three Bond
1206C.

7. Wipe the grease exhaust port with a cloth and reinstall the hexagon socket head
cap screw on the grease exhaust port. Prior to installation, coat the screw threads
with Three Bond 1206C.

Adept Viper s1700D Robot User’ s Guide, Re v A 65

Maintenance and Inspection

Grease inlet

(Hexagon socket head cap screw M6)

Exhaust port

(Grease zerk A-MT6X1)

5.5 Grease Replenishment for 4th-Axis Speed Reducer

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

1. Remove the hexagon socket head plug (PT1/8) on the grease exhaust port.

2. Inject the grease (8 cc (16 cc for the first supply), Harmonic grease SK-1A) into the
grease inlet using a grease gun.

NOTE: The exhaust port is used for air flow. Do no inject excessive grease
into the grease inlet.

3. Reinstall the hexagon socket head plug (PT 1/8) on the grease exhaust port. Prior
to installation, coat the screw threads with Three Bond 1206C.

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

Grease Replenishment for 4th-Axis Speed Reducer

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

Exhaust port (for 5th-axis)
(Plug LP-M5)

6th-axis speed reducer

Exhaust port

(for 6th-axis)

(Hexagon socket

5th-axis speed reducer

set screw M6)

Gease inlet (for 6th-axis)

(Hexagon socket head
cap screw M6)

Gease inlet (for 5th-axis)

(Hexagon socket head cap screw M6)

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

1. Remove the plug on the exhaust port for the 5th axis or the hexagon socket set
screw on the grease exhaust port for the 6th axis.

NOTE: Remove the cover for the 5th-axis speed reducer.

2. Remove the hexagon socket head cap screw on the grease inlet and install the
grease zerk (A-MT6X1).

3. Inject the grease into the grease inlet using a grease gun. (For the 5th axis: use
approximately 10 cc (20 cc for first supply); for the 6th axis: use 5 cc (10 cc for first
supply); use Harmonic grease SK-1A for both axes.)

NOTE: The exhaust port is used for air flow. Do no inject excessive grease
into the grease inlet.

4. Reinstall the plug on the exhaust port for the 5th axis or the hexagon socket set
screw on the grease exhaust port for the 6th axis. Prior to installation, coat the
screw threads with Three Bond 1206C.

5. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head
cap screw. Prior to installation, coat the screw threads with Three Bond 1206C.

6. Mount the cover for the 5th-axis speed reducer. (Refer to Section on page 61.)

Adept Viper s1700D Robot User’ s Guide, Re v A 67

Maintenance and Inspection

Exhaust port

Gear grease inlet

(Plug LP-M5)

(Hexagon socket head cap screw M6)

5.7 Grease Replenishment for 6th-Axis Gear

Figure 5-9. 6th-Axis Gear Diagram

1. Remove the plug on the grease exhaust port.

2. Remove the hexagon socket head cap screw on the grease inlet and install the
grease zerk (A-MT6X1).

3. Inject 5 cc of grease ( 10 cc for first supply, Harmonic grease SK-1A) into the gear
grease inlet using a grease gun.

NOTE: The exhaust port is used for air flow. Do no inject excessive grease
into the gear grease inlet.

4. Reinstall the plug on the exhaust port. Prior to installation, coat the screw threads
with Three Bond 1206C.

5. Remove the grease zerk on the gear grease inlet and reinstall the hexagon socket
head cap screw. Prior to installation, coat the screw threads with Three Bond
1206C.

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

Removing the Encoder Connector

Grease inlet

Exhaust port
(Plug LP-M5)

4th-axis cross roller bearing

(Hexagon socket head cap
screw M6) (Length: 6 mm)

5.8 Grease Replenishment for 4th-Axis Cross Roller Bearing

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

1. Remove the plug on the exhaust port.

2. Remove the hexagon socket head cap screw from the grease inlet and install the
grease zerk (A-MT6X1).

3. Inject the grease (8 cc (16 cc for first supply, Alvania EP grease 2) into the grease
inlet using a grease gun.

NOTE: The exhaust port is used for air flow. Do no inject excessive grease
into the grease inlet.

4. Reinstall the plug on the exhaust port. Prior to installation, coat the screw threads
with Three Bond 1206C.

5. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head
cap screw. Prior to installation, coat the screw threads with Three Bond 1206C.

5.9 Removing the Encoder Connector

When performing maintenance, such as replacing a wire harness in the robot, it may be
necessary to remove the encoder connector (note the CAUTION label). In this case, be
sure to connect the battery pack to the battery backup connector before removing the
encoder connector. If you remove the encoder connector without connecting the battery
backup, the encoder absolute data might be lost. For instructions on making the battery
pack connections, see Figure 5-11 on page 70 and Figure 5-12 on page 71.

Adept Viper s1700D Robot User’ s Guide, Re v A 69

Maintenance and Inspection

Encoder connector

CAUTION

Connect battery to encoder
to save the data before
removing conector.

CAUTION label

0BT
BAT

b

a

Connector for the battery backup

CAUTION label (Enlarged view)

Motor power connector

a

0BT*

b

BAT*

Battery pack (HW9470932-A)

Motor

a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)

CAUTION

Connect battery to encoder
to save the data before
removing connector.

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

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

Wire harness
in robot

Removing the Encoder Connector

Encoder

Motor

Motor cable, etc.

Power connector

Connect battery to encoder

to save the data before

removing conector.

CAUTION

CAUTION label

CAUTION label (Enlarged view)

CAUTION

Connect battery to encoder
to save the data before
removing connector.

Encoder connector

0BT
BAT

Connection

a

0BT

b

BAT

a

b

0BT

a

b

BAT

a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)

b

0BT

a

BAT

Battery pack
(HW9470932-A)

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

Adept Viper s1700D Robot User’ s Guide, Re v A 71

Maintenance and Inspection

Robot interface panel

Battery pack

Support

Robot interface panel

Robot interface panel fixing screw

5.10 Replacing the Encoder Backup Battery

The encoder backup batteries should be replaced every two years. Replace the batteries
according to the procedure below.

1. Prepare a new battery pack for replacement.

2. Turn off AC power to the PA-4 and DC power to the controller.

3. Remove the mounting screws for the battery pack on the support. See Figure 5-13.

Figure 5-13. Removing Cover to Replace Encoder Batteries

4. Remove the battery pack from the holder.

5. Connect the new battery pack to an unconnected connector.

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

Circuit board

See step 5

See step 6

6. Remove the old battery pack from the circuit board.

Installing User-Supplied Hardstops

Battery pack before replacement

Connector

New battery pack

Figure 5-14. Battery Pack Connection

NOTE: Connect the new battery pack before removing the old one. If you

remove the old battery pack first, the encoder positional data will be lost.

7. Mount the new battery pack on the holder.

8. Securely fix the battery pack on the support with the mounting screws.

5.11 Installing User-Supplied Hardstops

For the purpose of limiting the robot working envelope, the hardstops, or mechanical
ends, for axes 1, 2, and 3 on the Adept Viper robots can be changed by installing
user-supplied hardstop devices. In addition, the default softstops, or software limits, must
be modified after the optional hardstop kit has been installed.

Adept Viper s1700D Robot User’ s Guide, Re v A 73

Maintenance and Inspection

2nd/3rd-axes hardstop (optional)

2nd-axis hardstop (optional)

1st-axis hardstop
(optional)

If you need information on modifying hardstops, please contact Adept.

Figure 5-15. Hardstops (Optional) Locations

CAUTION: Failures caused by user-supplied hardstops are

not covered by the warranty, even if the robot is under
warranty.

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

Technical Specifications 6

6.1 Robot Dimensions

POINT P

WORKING RANGE

80

288

150

87.5

795

1717

105

1485

760

505

238

559

140

1323

1417

105°

110°

260 471

459

514

635

356

421

807

80°

165°

155°

POINT P

328

524

776

917

2072

1003

505

991

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

Adept Viper s1700D Robot User’s Guide, Rev A 75

Technical Specifications

R1717

R421

R314

180°

180°

150

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

6.2 Robot Flange Dimensions

6

0.5

4X M6 X 1.0
Depth 10

Ø50

0

-0.039

+0.021

Ø25

6

0

45°

Ø6

Depth 6

+0.012
0

PCD Ø40

Figure 6-3. Robot Flange Dimensions

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

6.3 Specifications

Table 6-1. Robot Specifications

Specification Value

Configuration Vertically articulated
Degrees of freedom 6
Payload 20 kg
Reach 1717 mm

Robot Flange Dimensions

Position repeatability

a

±0.06 mm

Motion range J1: ±180° (turning)

J2: -110°, +155° (lower arm)
J3: -165°, +255° (upper arm)
J4: ±200° (wrist roll)
J5: -50, +230° (wrist pitch/yaw)
J6: ±360° (wrist twist)

Maximum speed J1: 3.44 rad/s, 197°/s

J2: 2.97 rad/s, 170°/s
J3: 3.26 rad/s, 187°/s
J4: 6.98 rad/s, 400°/s
J5: 6.98 rad/s, 400°/s
J6: 10.47 rad/s, 600°/s

Allowable moment

b

J4: 39.2 N•m (29 ft•lbf)
J5: 39.2 N•m (29 ft•lbf)
J6: 19.6 N•m (14.5 ft•lbf)

Allowable inertia

2

b

/4)

(GD

J4: 1.05 kg•m
J5: 1.05 kg•m
J6: 0.75 kg•m

2
2
2

Weight Approx. 268 kg (590 lbs)

During Operation During Shipment/Storage
Temperature 0° to 45° C (32° to 113° F) -10° to 60° C (14° to 140° F)
Humidity 20 to 80% RH

(at constant temperature)

Vibration acceleration less than 4.9 m/s

2

(0.5 G) less than 29.4 m/s2 (3.0 G)

less than 75% RH,
non-condensing

Other ambient conditions Free from corrosive gasses or liquids, or explosive gasse s

Clean and dry
Free from excessive electrical noise (plasma)

Power requirements 2.0 kVA

a

Position repeatability is the value at constant ambient temperature.

b

Refer to Section 2.9 on page 35 for details on allowable moment and inertia.

c

For typical power consumption information, see Table 3-2 on page 43.

c

Adept Viper s1700D Robot User’ s Guide, Re v A 77

Technical Specifications

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

Index

Numerics

3BC connector

internal user I/O wiring 33

A

AC power

connecting to power chassis 43
installation diagram for 200-240 VAC, 3-

phase 45
installation diagram for 380-415 VAC 45
power consumption, typical 43
requirements for power chassis, 3-

phase 43
turning on 48
voltage/current ratings

power chassis, 3-phase 43

Adept ACE

starting 48

Adept Document Library 17
Adept PA-4, see PA-4 power chassis
air inlet air lines, description 32
axis identification, on robot 11
axis naming conventions 12

B

brackets, shipping 24
brake release box 53

installation 53

C

connecting

AC power to PA-4 43
power chassis cord to AC supply 44

connectors on robot, description 32
current/voltage ratings

power chassis, 3-phase 43

Customer Service assistance 16

D

declaration, manufacturer’s 15
digital I/O

default signal configuration 51
in single robot systems 50

dimensions

s1700D robot, side view 75
s1700D robot, top view 76
tool flange 76

Document Library CD-ROM 16, 17

E

emergency situation, what to do 14
end-effectors

flange dimensions 76
mass, center of gravity 35

endurance torque 28
environmental requirements 20
external mounting holes, on robot 34

F

flange on robot, dimensions 76
forklifts 23

G

grease replenishment

instructions for 62
parts and grease to use 59

schedule 58
greases for lubrication 59
grounding 30

H

hoisting sling 22
How Can I Get Help? 16

I

IEEE 1394 cable, installing 41
installation 26

PA-4 power chassis 41

SmartController 40

system, overview 15

verifying 47
intended use of the robot 15

interface box

location on PA-4 42
interface panel 32

L

lubrication, see grease replenishment

Adept Viper s1700D Robot User’s Guide, Rev A 79

Index

M

maintenance

performing 56

scheduling 55
manufacturer’s declaration 15
messafe RL 16

message URL ftp

//ftp1.adept.com/Download-Library/

Regulatory/ 16

message URL http

//www.adept.com/contact/americas 16

//www.adept.com/contact/asiapacific-

rim 16
mounting hole pattern 27
mounting procedure 26

N

Notes, Cautions, and Warnings, description

of 13

O

operating requirements 20
overview

system installation 15

P

PA-4 power chassis

AC power requirements, 3-phase 43

installing 41
performance specifications 77
power cable

installing 41
power requirements

PA-4 power chassis, 3-phase AC 43

R

related manuals 16
repulsion forces 28
requirements

environmental 20

operating environment 20

PA-4 power chassis, 3-phase AC 43
robot

programming 49

S

scheduling robot inspections and

maintenance 55
sDAI module, status panel codes 52
shipping bracket 24
SmartController

description 12

installation 40
solenoids, in robot

signal wiring 33
solenoids, signal wiring 33
specifications 77

robot performance 77
startup procedure 48
status panel codes, on sDAI module 52
system

cable diagram for single robots 39

T

tool flange, dimensions 76
torque 28
transporting 21
transporting robot 21

precautions 21

U

unpacking

and inspecting Adept equipment 19
unpacking and inspection 19

V

voltage

maximum operating

power chassis, 3-phase AC 43

minimum operating

power chassis, 3-phase AC 43

W

What to do in an emergency situation 14
work envelope

s1700D robot, side view 75

s1700D robot, top view 76

X

XSYS cable, installing 41

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

5960 Inglewood Drive
Pleasanton, CA 94588
925·245·3400

P/N: 11160-000, Rev A