Adept s650 User Manual
Adept Viper
s650/s850 Robot
with MB-60R/eMB-60R
User's Guide
Adept Viper
s650/s850 Robot
with MB-60R/eMB-60R
User's Guide
P/N: 05173-060 Rev F
August, 2012
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
Copyright Notice
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. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments
assist us in preparation of future documentation. Please submit your comments to: tech-
pubs@adept.com.
Copyright 2007, 2010 - 2012 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, Fire-
Blox, Fireview, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines
are registered trademarks of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept Cobra, Adept SmartController CX, Adept SmartController EX, Adept Motion-
Blox-10, Adept Python, Adept sMI6, Adept Viper s650, AdeptViper s850, eMB-60R, MB-60R,
eV+, V+, and MotionBlox-60R
are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication are the property
of those respective companies.
Created in the United States of America
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Table of Contents
Chapter 1: Introduction 9
1.1 Product Description
Adept Viper s650/s850 Robots 9
Adept SmartController 10
Adept MotionBlox-60R 10
1.2 Dangers, Warnings, Cautions, and Notes
1.3 Intended Use of the Robots
1.4 Safety Precautions
1.5 What to Do in an Emergency Situation
1.6 Additional Safety Information
Manufacturer’s Declaration of Compliance (MDOC) 13
1.7 Installation Overview
1.8 Manufacturer’s Declaration
1.9 How Can I Get Help?
Related Manuals 15
Adept Document Library 15
11
12
12
13
13
13
14
15
Chapter 2: Robot Installation 17
2.1 Unpacking and Inspecting the Adept Equipment
Before Unpacking 17
Upon Unpacking 17
2.2 Repacking for Relocation
2.3 Environmental and Facility Requirements
2.4 Transporting the Robot
Precautions when Transporting Robot 18
Transport Procedure 20
Mounting the Robot 22
2.5 Grounding the Robot
2.6 Description of Connectors on Robot Interface Panel
2.7 Air Lines and Signal Wiring
Optional Solenoid Cable 26
Solenoid Valve Specifications 28
External Mounting Locations on Robot 29
2.8 Designing End-Effectors
Continuous Turn on J6 29
Mass of End-Effector 29
17
17
18
18
23
24
24
29
9
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Table of Contents
Center of Gravity Position of End-Effector 30
Moment of Inertia Around J4, J5, and J6 30
Chapter 3: MotionBlox-60R 33
3.1 Introduction
3.2 Description of Connectors on MB-60R/eMB-60R Interface Panel
3.3 MB-60R/eMB-60R Operation
Status LED on MB-60R/eMB-60R 35
Status Panel 36
Brake Release Button on MB-60R/eMB-60R 37
Brake Release Connector 38
3.4 Connecting Digital I/O to the System
3.5 Using Digital I/O on MB-60R/eMB-60R XIO Connector
Optional I/O Products 42
XIO Input Signals 42
XIO Output Signals 44
XIO Breakout Cable 45
3.6 MB-60R/eMB-60R Dimensions
3.7 Mounting the MB-60R/eMB-60R
Panel-Mounting the MB-60R/eMB-60R 48
33
34
35
38
40
47
48
Chapter 4: System Installation 49
4.1 System Cable Diagram
Cables and Parts List 50
4.2 Installing the SmartController
4.3 Installing the Adept ACE Software
4.4 Connecting the PC to the SmartController
4.5 Connecting Cables from the MB-60R/eMB-60R to the SmartController
4.6 Connecting Cables from the MB-60R/eMB-60R to the Robot
Installing the Arm Power/Signal Cable 52
4.7 Connecting 24 VDC Power to MB-60R/eMB-60R Servo Controller
Specifications for 24 VDC Power 53
Details for 24 VDC Mating Connector 54
Procedure for Creating 24 VDC Cable 54
Installing the 24 VDC Cable 55
4.8 Connecting 200-240 VAC Power to MB-60R/eMB-60R
Specifications for AC Power 56
Facility Overvoltage Protection 57
AC Power Diagrams 57
Details for AC Mating Connector 58
Procedure for Creating 200-240 VAC Cable 58
Installing AC Power Cable to MB-60R/eMB-60R 59
49
50
51
51
52
52
53
55
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Table of Contents
4.9 Grounding the Adept Robot System
Ground Point on Robot Base 59
Ground Point on MotionBlox-60R 60
Robot-Mounted Equipment Grounding 61
4.10 Installing User-Supplied Safety Equipment
59
61
Chapter 5: System Operation 63
5.1 Status Panel Codes
5.2 Brakes
Installing and Using the Brake Release Box 63
Using the Brake Release Switch on UL Robots 64
5.3 Starting the System for the First Time
Verifying Installation 65
System Start-up Procedure 66
Running the Adept ACE Software 66
Verifying E-Stop Functions 67
Verify Robot Motions 67
5.4 Learning to Program the Robot
5.5 Installing Axis Labels
5.6 Caution Label on Robot
5.7 Installing User-Supplied Hardstops
63
63
65
67
68
69
69
Chapter 6: Maintenance 71
6.1 Field-replaceable Parts
6.2 Periodic Maintenance Schedule
6.3 Checking Safety Systems
6.4 Checking Robot Mounting Bolts
6.5 Replacing Encoder Backup Batteries
Battery Replacement Intervals 72
Battery Replacement Procedure 73
6.6 Replacing the MB-60R/eMB-60R Amplifier
Remove the MB-60R/eMB-60R Amplifier 76
Installing a New MB-60R/eMB-60R 76
6.7 Commissioning a System with an eMB-60R
Safety Commissioning Utilities 77
E-Stop Configuration Utility 79
E-Stop Verification Utility 79
Teach Restrict Configuration Utility 80
Teach Restrict Verification Utility 80
71
71
71
72
72
75
77
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Table of Contents
Chapter 7: Technical Specifications 83
7.1 Robot Dimensions
7.2 Robot Flange Dimensions
7.3 Specifications
83
87
87
Chapter 8: IP-54/65 Option 89
8.1 Introduction
8.2 Differences from the Standard Robot Model
Installation Environment 90
Robot Connector Panel 90
Cable Clearance 91
Replacing Encoder Backup Battery 91
89
90
Chapter 9: Cleanroom Option 93
9.1 Introduction
9.2 Differences from Standard Robot Model
Cleanroom Technical Specifications 93
Robot Connector Panel 94
9.3 Air Lines and Signal Wiring
9.4 Cleanroom Cover at J6 Flange
9.5 Cable Clearance
9.6 Replacing Encoder Backup Battery
93
93
94
96
97
97
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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1.1 Product Description
Adept Viper s650/s850 Robots
The Adept Viper s650™ robot and Adept Viper s850™ robots are high-performance, six-axis
robots designed specifically for assembly applications. The speed and precision of the Adept
Viper robots also make them ideal for material handling, packaging, machine tending, and
many other operations requiring fast and precise automation.
NOTE:The descriptions and instructions in this manual apply to both the Adept
Viper s650 and the Adept Viper s850 robots, except for instances where there is a
difference, as in dimension and work envelope drawings. In those cases, the information is presented for both robots. Either robot's motors can be powered by either
an MB-60R or eMB-60R servo-controller/amplifier. Either robot can be controlled by
either an Adept SmartController CX or Adept SmartController EX motion controller.
Chapter 1: Introduction
Figure 1-1. Robot Axis Identification
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 1: Introduction
Adept SmartController
The SmartController™ motion controller is the foundation of Adept’s family of high-performance distributed motion and vision controllers. The SmartController is designed for use
with:
l
Adept Cobra™ s-Series robots
l
Adept Quattro™ robots
l
Adept Viper™ s-Series robots
l
Adept Python™ linear modules
l
Adept MotionBlox-10™
l
Adept sMI6™ (SmartMotion)
The SmartController supports a conveyor tracking option, as well as other options. There are
two models available: the SmartController CX, which uses the V+ Operating System, and the
SmartController EX, which uses the eV+ Operating System. Both models offer 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 SmartController also includes Fast Ethernet and DeviceNet.
Figure 1-2. Adept SmartController EX and CX Motion Controllers
Adept MotionBlox-60R
The Adept MotionBlox-60R™ (MB-60R™/eMB-60R™) distributed servo controller contains the
amplifiers to power the high-power motors of the Adept Viper s650/s850 robots.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 1: Introduction
The Adept MB-60R/eMB-60R feature:
l
Six AC servo motor amplifiers
l
Emergency stop circuitry
l
High servo rate, to deliver low positional errors and superior path following
l
Sine wave commutation, for low cogging torque and improved path following
l
Digital feed-forward design, to maximizes efficiency, torque, and velocity
l
Integral temperature sensors and status monitoring for maximum reliability
l
Dual-digit diagnostics display for easy troubleshooting
Figure 1-3. MotionBlox-60R (MB-60R shown)
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.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 1: Introduction
DANGER:This indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
WARNING:This indicates a potentially hazardous electrical situation which, if not avoided, could result in
injury or major damage to the equipment.
WARNING:This indicates a potentially hazardous situation which, if not avoided, could result in injury or
major damage to the equipment.
CAUTION:This indicates a situation which, if not
avoided, could result in damage to the equipment.
NOTE:Notes provide supplementary information, emphasize a point or procedure,
or give a tip for easier operation.
1.3 Intended Use of the Robots
The Adept Viper robots are intended for use in parts assembly and material handling for payloads less than 5 kg. See Technical Specifications on page 83 for complete information on the
robot specifications. Refer to the Adept Robot Safety Guide for details on the intended use of
Adept robots.
1.4 Safety Precautions
DANGER:An Adept Viper s650/s850 robot can cause
serious injury or death, or damage to itself and other
equipment, if the following safety precautions are not
observed:
l
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.
l
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
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 1: Introduction
location in which the robot is installed.
l
The robot system must not be used for purposes other than described in Intended Use of
the Robots on page 12. Contact Adept if you are not sure of the suitability for your application.
l
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.
l
Power to the robot and its amplifiers must be locked out and tagged out before any
maintenance is performed.
1.5 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 CO2to extinguish the fire.
1.6 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. Manufacturer’s Declaration on page
14
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. See
Adept Document Library on page 15
1.7 Installation Overview
The system installation process is summarized in the following table. Refer also to the system
cable diagram in System Installation on page 49.
For dual-robot installations, see the Adept Dual-Robot Configuration Procedure, which
is available in the Adept Document Library.
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Chapter 1: Introduction
Table 1-1. Installation Overview
Task to be Performed Reference Location
Mount the robot on a flat, secure mounting surface. Mounting the Robot on page
22.
Install the SmartController, Front Panel, and Adept ACE
software.
Install the IEEE 1394 and XSYS cables between the
MB-60R/eMB-60R and SmartController.
Install the Arm Power/Signal cable between the
MB-60R/eMB-60R and the robot.
Create a 24 VDC cable and connect it between the
MB-60R/eMB-60R and the user-supplied 24 VDC power
supply.
Create a 24 VDC cable and connect it between the
SmartController and the user-supplied 24 VDC power
supply.
Create a 200 - 240 VAC cable and connect it between
the MB-60R/eMB-60R and the facility AC power source.
Install user-supplied safety barriers in the workcell. Installing User-Supplied Safety
Learn about connecting digital I/O through the XIO
connector on the MB-60R/eMB-60R.
Robot Installation on page 17.
Connecting Cables from the
MB-60R/eMB-60R to the
SmartController on page 52.
Installing the Arm Power/Signal Cable on page 52.
Procedure for Creating 24 VDC
Cable on page 54.
Installing the SmartController
on page 50.
Connecting 200-240 VAC
Power to MB-60R/eMB-60R on
page 55.
Equipment on page 61
Connecting Digital I/O to the
System on page 38
Read Chapter 5 to learn about system start-up and
testing operation.
1.8 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can
be found on the Adept website, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE:The Download Center requires that you are logged in for access. If you are
not logged in, you will be redirected to the Adept website Login page, and then automatically returned to the Download Center when you have completed the login
process.
1.
From the Download Types drop-down list, select Manufacturer Declarations.
2.
From the Product drop-down list, select your Adept robot product category (such as
Adept Cobra Robots, Adept Viper robots, etc.).
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System Operation on page 63
Page 14 of 100
3.
Click Begin Search.
4.
The list of available documents is shown in the Search Results area, which opens at the
bottom of the page. You may need to scroll down to see it.
5.
Use the Description column to locate the document for your Adept robot, and then click
the corresponding Download ID number to access the Download Details page.
6.
On the Download Details page, click Download to open or save the file.
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
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Viper s650/s850
robot system. There are additional manuals that cover programming the system, reconfiguring
installed components, and adding other optional components. See the following table. These
manuals are available on the Adept Document Library, and the software CD-ROM shipped
with each system.
Chapter 1: Introduction
Table 1-2. Related Manuals
Manual Title Description
Adept Robot Safety
Guide
Adept SmartController
User’s Guide
Adept T20 Pendant
User's Guide
Adept T2 Pendant User’s
Guide
Adept IO Blox User’s
Guide
Adept ACE User’s Guide Describes the installation and use of Adept ACE.
Adept Dual Robot
Configuration Procedure
Contains general safety information for all Adept robots.
Contains complete information on the installation and operation
of the Adept SmartController and the optional sDIO product.
Describes the Adept T20™ pendant.
Describes the Adept T2™ pendant.
Describes the IO Blox product.
Contains cable diagrams and configuration procedures for a dualrobot system.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access a local copy of the ADL from the Adept Software CD shipped with your system. Additionally, an Internet version of the ADL can be accessed by going to the Adept Web site and
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 1: Introduction
selecting Document Library from the Support tab. 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, use the menu links located
above the search field.
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Chapter 2: Robot Installation
2.1 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. If any damage is
apparent, 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 How Can I Get Help? on page 15.
Retain all containers and packaging materials. These items may be necessary to settle claims
or, at a later date, to relocate equipment.
2.2 Repacking for Relocation
If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow in this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your
warranty. Specify this to the carrier if the robot is to be shipped.
CAUTION:Before transportation, set the robot in a transport
position by manually moving the second, third, and fourth
axes. See the following figure.
Figure 2-1. Robot in Transport Position
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Chapter 2: Robot Installation
2.3 Environmental and Facility Requirements
The Adept robot system installation must meet the operating environment requirements
shown in the following table.
Table 2-1. Robot System Operating Environment Requirements
Item Condition
Flatness of the
0.1/500 mm
mounting surface
Installation type Floor-mount or Overhead-mount
Ambient
temperature
During operation: 0 to 40° C
During storage and transportation: -10 to 60° C
Humidity During operation: 90% or less (Non-condensing)
During storage and transportation: 75% or less (Non-condensing)
Vibration During operation: 4.9 m/s2(0.5 G) or less
During storage and transportation: 29.4 m/s2(3 G) or less
Safe Installation
Environment
The robot should not be installed in an environment where:
l
There are flammable gases or liquids
l
There are any acidic, alkaline, or other corrosive gases
l
There is sulfuric or other types of cutting or grinding oil mist
l
There are any large-sized inverters, high output/high frequency
transmitters, large contactors, welders, or other sources of electrical noise
l
There are any shavings from metal processing or other conductive
material flying about
l
It may be directly exposed to water, oil, or cutting chips
Working space,
etc.
l
Sufficient service space must be available for inspection and disassembly.
l
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.
Protective Earth
Ground
Grounding resistance: 100 milliohms or less
See Ground Point on Robot on page 23.
2.4 Transporting the Robot
Precautions when Transporting Robot
l
The robot weighs almost 30 kg (66 lb). Use a crane suitable for the robot weight.
l
Have at least two workers handle this job.
l
Workers should wear helmets, safety shoes, and gloves during transport.
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Chapter 2: Robot Installation
l
Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-axis cover, or 3rd-axis
cover, or apply force to any of them. See Robot Axis Identification on page 9.
WARNING:Do not attempt to lift the robot at any points
other than the eyebolts provided. Do not attempt to
extend the inner or outer links of the robot until the robot
has been secured in position. Failure to comply could
result in the robot falling and causing either personnel
injury or equipment damage.
Figure 2-2. Robot in Hoisting Sling
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Chapter 2: Robot Installation
Transport Procedure
Step Procedure Drawing
1 Before transportation, set the robot in
a transport position as shown at right
by manually moving the second,
third, and fourth axes.
When initially unpacked, the robot is
in the transport position, so this step
is not required.
Transport Position
Axis Angle
First axis (J1) 0°
2 Disconnect the robot control cable, air
hoses, and user signal cables from the
robot.
When the robot is first unpacked, this
step is not required.
3 As shown at right, mount the eye-
bolts.
When delivered, the robot is packed
with eyebolts attached, so this step is
not required
Second axis (J2) -145°
Third axis (J3) +243°
Fourth axis (J4) -90°
Fifth axis (J5) -90°
4 As shown at right, place a waste cloth
on the second axis and pass the wire
through the two eyebolts.
Note: Before transporting the robot,
check that the path to the mounting
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Chapter 2: Robot Installation
Step Procedure Drawing
location is free of obstacles.
5 Worker A: Remove the four bolts
while supporting the robot to prevent
it from tipping over.
6 Worker B: Operate the crane and
move the robot to the mounting location.
7 Worker B: Put the robot down in the
mounting location.
Worker A: Temporarily secure the
robot base with four bolts.
8 Secure the robot according to the
instructions in Mounting the Robot on
page 22.
9 Remove the eyebolts from the robot. Caution: Before running the robot, be sure to
remove the eyebolts. Otherwise, the robot
arm will strike these eyebolts.
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Mounting the Robot
2X Ø6
200
160
R20
66 ±0.05 142.3
4X Ø12 THRU
For M10
184 ±0.05
160
200
+0.012
- 0
Diamond-shaped pin
Units are mm
Chapter 2: Robot Installation
1.
2.
3.
4.
5.
Figure 2-3. Mounting Hole Pattern for Robot
See the preceding figure for the dimensions of the mounting holes in the robot mounting
position where the robot is to be secured.
l
Drill four bolt holes (M10), 20 mm deep or more.
l
Drill a dowel pin hole Ø6, H7 for the diamond shaped pin, 10 mm deep or more.
l
Drill a dowel pin hole Ø6, H7 for the internally threaded positioning pin, 10mm
deep or more.
Locate two alignment pins, one round and one diamond-shaped, supplied in the accessory kit.
Drive the diamond-shaped pin into one Ø6, H7 hole so that it is oriented as shown in
the preceding figure.
Drive the internally threaded alignment pin into the other Ø6, H7 hole.
NOTE:Be sure to use the alignment pins. It can minimize positional deviations that may be caused by the removal/installation of the robot for maintenance and reduce vibration during operation.
Set the robot into place on the robot mount. When transporting the robot, follow the
instructions given in Transporting the Robot on page 18.
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6.
CN22
CN20
AIR1
AIR2
Grounding terminal (M5)
12 AWG or more
Secure the robot to the mount with four bolts and plain washers.
l
Bolt: M10 x 30 mm (strength class: 12.9)
l
Tightening torque: 70 ± 14 N·m (52 ± 10 ft-lbf)
2.5 Grounding the Robot
Ground the grounding terminal of the robot with a wire of 12 AWG or larger. Ground resistance 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.
Chapter 2: Robot Installation
WARNING:Wiring must be performed by authorized or
certified personnel. Failure to observe this precaution
may result in fire or electric shock.
Figure 2-4. Ground Point on Robot
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Chapter 2: Robot Installation
CN22
CN20
AIR1
AIR2
Grounding terminal (M5)
CN22 Power/Signal Cable - to MB-60R
CN20
AIR 1
AIR 2
2.6 Description of Connectors on Robot Interface Panel
CN22 The Arm Power/Signal cable from the MB-60R/eMB-60R is installed at this con-
nector.
CN20 Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the upper
arm. Pins 12 to 18 are for solenoid control. See Air Lines and Signal Wiring on
page 24.
AIR 1 Air line connector (BSPT1/4) for three solenoids in robot. Air Lines and Signal Wir-
AIR 2 Air line connector (BSPT1/4), connects directly to AIR 2 on the second (upper)
Grounding
Terminal
2.7 Air Lines and Signal Wiring
ing on page 24.
arm.
Protective earth ground point on the robot. See Grounding the Robot on page 23.
The robot is equipped with seven air lines. Six lines, from AIR1 input, are controlled by the
three internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2 on the
second arm. There are ten user electric lines. See the following figures and tables.
Figure 2-5. Robot Interface Panel
Table 2-2. Robot Interface Connections
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 24 of 100
Chapter 2: Robot Installation
CN21 pin layout
CN20 pin layout
View A
Air line joint (M5)
Grounding Terminal (M5)
AIR1 Air line joint (BSPT1/4)
AIR2 Air line joint (BSPT1/4)
Connector (CN21)
for end-effector control
signal wires
A
B
View B
Connector (CN20)
for end-effector signal/valve
control wires
Valve Symbols and Air intake/Exhaust States
(1A and 1B are tubing joint symbols.)
Air tubing joing Valve Signal
Note 1: Pins #1 to #10 on CN21 and those on
CN20 are connected with each other. The
allowable current per line is 1 A.
Note 2: Use the supplied mating connector
sets for CN20 and CN21. See Cleanroom
Option on page 93 for information about the
mating connectors on Cleanroom and IP-54/65
robots.
AIR1 Air
intake
1A 1B
1B 1A
2A 2B
2B 2A
3A 3B
3B 3A
AIR2
Exhaust Solenoid
valve
1
1
2
2
3
3
Solenoid
A B
ON OFF
OFF ON
ON OFF
OFF ON
ON OFF
OFF ON
CN20 Pin Assignments
NPN type (source IN, sink OUT)
CN20 pin No. Used for:
12 +24 V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)
PNP type (sink IN, source OUT)
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
CN20 pin No. Used for:
12 0 V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)
Page 25 of 100
Chapter 2: Robot Installation
Connector set part
No.
05019-000 for CN20 SRCN6A25-24S (round type con-
Connector No. Model and part name Appearance
nector) Japan Aviation Electronics Industry Ltd.
for CN21 JMLP1610M (L type plug con-
nector) DDK Electronics, Inc.
Optional Solenoid Cable
An optional 4 meter solenoid cable is available that connects between the XDIO connector on
the SmartController and the CN20 connector on the robot. The part number is 05739-040.
NOTE:The optional solenoid cable does not work with the IP-54/65 or the Cleanroom robots.
Installing this cable allows you to control the three internal robot solenoids directly from the
either the Adept ACE software, using the digital outputs, or programmatically, with V+/eV+.
Refer to the following screen shots:
Figure 2-6. Adept ACE Digital I/O Icon
Figure 2-7. Adept ACE Digital I/O Box (Output Shown)
See the following section for the details on activating the individual ports on each solenoid.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 2: Robot Installation
Table 2-3. Viper Solenoid Control
Active Output Port Signal States
1
Solenoid 1 A 0001 –0002
B –0001 0002
Solenoid 2 A 0003 –0004
B –0003 0004
Solenoid 3 A 0005 –0006
B –0005 0006
1
The two-position, double solenoids require both signal states to be acti-
vated. Invalid states will result in indeterminate outputs.
In addition to controlling the internal robot solenoids, the Solenoid cable brings a portion of
the other XDIO signals out to the CN21 connector at the top of the robot. See the following
table for details of which signals are available at CN21. See the Adept SmartController User's
Guide for the electrical specifications for the signals from the XDIO connector.
Table 2-4. CN21 Signal List When Using Solenoid Cable
Signal from XDIO on
CN21 Pin #
1 Input 1001
2 Input 1002
3 Input 1003
4 Input 1004
5 Input 1005
a
Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
b
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
c
Limited to a combined total of 1A of current.
SmartController CN21 Pin #
a
a
a
a
a
6 Not connected
7 Output 0007
8 Output 0008
9 24 V Output
10 Ground
Signal from XDIO on
SmartController
b
b
c
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 27 of 100
Chapter 2: Robot Installation
Solenoid Valve Specifications
Table 2-5. Solenoid Valve Specifications
Item Specifications
Valve Switching system 2-position double
Applicable fluid Air
Operating system Pilot type
Effective cross section
(Cv value)
Lubrication Oilless
Operating pressure range 0.1 to 0.7 MPa (14 to 101 psi)
Response time 15 ms or less at 0.5 MPa (72.5 psi)
Maximum operating frequency 10 Hz
1.2 mm
2
a
Ambient temperature -5 to 50° C (Dry air, non-condensing)
Solenoid Operating voltage 24 V ±10%
Power consumption (current) 0.5 W (21 mA)
Surge voltage protection circuit Zener diode
a
Note that the robot is rated at 0.1 to 0.39 MPa, 0.49 Max (14 - 56.6 psi, 71.1 Max). This
upper limit is lower than the solenoid's upper limit.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Chapter 2: Robot Installation
External Mounting Locations on Robot
Figure 2-8. External Mounting Holes on Robot
2.8 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. The mechanical parts
of the robot and robot controller may become damaged.
Continuous Turn on J6
As an option, the Adept Viper s650/s850 can be ordered so that Joint 6 (J6) is programmed for
continuous turn. Note that if J6 is programmed for continuous turn, it may lose its calibration.
However, the other robot joints (J1 - J5) will not be affected.
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 (5 kg). The total mass includes the wiring, tubing, etc.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 29 of 100
Chapter 2: Robot Installation
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity of the end-effector (including workpiece) is
within the range shown in the following figure.
Figure 2-9. Allowable Range of Center of Gravity of End-effector
Moment of Inertia Around J4, J5, and J6
Design an end-effector so that its moments of inertia around J4, J5, and J6 (including mass of
workpiece) do not exceed the maximum allowable moments of inertia of the robot.
l
Maximum allowable moment of inertia around J4 and J5: 0.295 kgm
l
Maximum allowable moment of inertia around J6: 0.045 kgm
2
2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the formulas given in the following table. See Moment of Inertia Calculation Examples on page 32.
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 30 of 100
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