Adept s650H User Manual

Adept Quattro

s650 Robot

User’s Guide

Adept Quattro

s650 Robot

User’s Guide

P/N: 08411-000, Rev B

February, 2008

3011 Tr iad Drive • Livermore, CA 94551 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
151 Lorong Chuan #04-07 • New Tech Park, Lobby G • Singapore 556741 • Phone [phone] • Fax [phone]

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 trademarks of Adept Technology, Inc. Brain on Board is a registered trademark of

ACE, ActiveV, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder,

Adept Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350, Adept Cobra 350 CR/ESD,

Adept Cobra 550, Adept 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600,
Adept Cobra i800, Adept Cobra PLC server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra
s800, Adept Cobra s800 Inverted, Adept Cobra Smart600, Adept Cobra Smart800, Adept DeskTop,

Adept FFE, Adept FlexFeeder 250, Adept IC, Adept iSight, Adept Impulse Feeder, Adept

LineVision, Adept MB-10 ServoKit, Adept MC, Adept MotionBlox-10, Adept MotionBlox-40L,

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MV-8, Adept OC, Adept Python, Adept Quattro s650, Adept sDIO, Adept SmartAmp, Adept

SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept

SmartMotion, Adept SmartServo, Adept sMI6, Adept sSight, Adept Viper s650, Adept Viper s850,

Adept Viper s1300, Adept Viper s1700, Adept Viper s2000, AdeptCartesian, AdeptCast,

AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo,

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AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision XGS II, AdeptWindows,

AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline Editor, AdeptWindows

PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, FlexFeedWare,

HyperDrive, IO Blox, IO Blox, 88, MicroV+, MotionBlox, MotionWare, ObjectFinder, ObjectFinder

2000, PackOne, PalletWare, sAVI, S-Series, UltraOne, V, V+ and VisionTeach are trademarks of

©2007, 2008 by Adept Technology, Inc. All rights reserved.

Adept Technology, Inc. in Germany.

AdeptMotion VME, AdeptNet, AdeptNFS,

I, AdeptVision II,

Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Adept Quattro s650 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Quattro Robot Base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Adept AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Inner Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Ball Joints, Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

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

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

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

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

2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.1 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.2 Warning Labels on the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.3 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Instructions for Emergency Movement without Drive Power . . . . . . . . . . . 25

Emergency Recovery Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.4 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Slow Speed Control Function and Testing . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.5 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2.6 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2.7 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.8 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.9 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.10 Thermal Hazard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

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2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.13 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.14 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.15 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . . 33

2.16 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 34

2.17 What to Do in an Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.2 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 35

Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.3 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3.5 Mounting Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Frame Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Frame Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Robot-to-Frame Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Gussets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.6 Mounting the Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Robot Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Mounting Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Mounting Procedure from Above the Frame . . . . . . . . . . . . . . . . . . . . . . . . 42

Mounting Procedure from Below the Frame . . . . . . . . . . . . . . . . . . . . . . . . . 44

Install Mounting Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.7 Attaching the Outer Arms and Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Clocking the Platform to the Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Attaching the Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.2 Cable Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.4 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 53

4.5 Cable Connections from Robot to SmartController . . . . . . . . . . . . . . . . . . . . . . 54

6 Adept Quattro s650 Robot User’s Guide, Rev B

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4.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Specifications for 24 VDC Robot and Controller Power . . . . . . . . . . . . . . . 54

Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Installing 24 VDC Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.7 Connecting 200-240 VAC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 60

Installing AC Power Cable to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4.8 Grounding the Adept Quattro s650 Robot System. . . . . . . . . . . . . . . . . . . . . . . 61

Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4.9 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5.1 Robot Status LED Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5.2 Status Panel Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.3 Using the Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.5 Using Digital I/O on Robot XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

XIO Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

5.6 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Verifying Robot Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

5.7 Quattro Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Straight-line Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Containment Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Tool Flange Rotation Extremes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.8 Learning to Program the Adept Quattro Robot . . . . . . . . . . . . . . . . . . . . . . . . . 82

6 Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

6.1 End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Attaching, Aligning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Accessing Vacuum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

6.2 Routing End-effector Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

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7 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

7.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

7.2 Adept Quattro s650 Robot Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . 89

7.3 XSLV Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

7.4 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

7.5 Platform Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Rotation and Payload Inertia - Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Rotation and Payload Inertia - Performance . . . . . . . . . . . . . . . . . . . . . . . . 92

7.6 Robot Mounting Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

8.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

8.2 Checking Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.4 Checking Robot Gear Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.5 Checking Fan Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

8.6 Replacing the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Removing the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Installing a New AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

8.7 Replacing the Encoder Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Battery Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

8.8 Replacing a Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

9 Robot Cleaning/ Environmental Concerns . . . . . . . . . . . . . . . . . . . . . 111

9.1 Ambient Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

9.2 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Caustic Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Water Shedding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Wipe-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

9.3 Cleanroom Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

8 Adept Quattro s650 Robot User’s Guide, Rev B

Table of Contents

9.4 Design Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Robot Base and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Inner Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Ball Joints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

9.5 Installing Cable Seal Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Adept Quattro s650 Robot User’s Guide, Rev B 9

List of Figures

Figure 1-1. Adept Quattro s650 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 1-2. Major Robot Components, Isometric View . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Figure 1-3. Adept AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 1-4. Robot Inner Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 1-5. Ball Joints between Inner and Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Figure 1-6. 4:1 Platform, Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Figure 1-7. 4:1 Platform, Bottom View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Figure 1-8. 1:1 Platform, Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Figure 1-9. 1:1 Platform, Bottom View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Figure 1-10. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis . . . . . . . . . . . . . . . . . 24

Figure 3-1. Quattro Shipping Crates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 3-2. Crates with Front Panel/SIdes Removed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 3-3. Sample Quattro Mounting Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 3-4. Location of Slings for Lifting Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 3-5. Major Robot Components, Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Figure 3-6. End Cap Labeling, Joint #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Figure 3-7. Platform Orientation Labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Figure 3-8. Inner Arm Ball Studs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Figure 3-9. Ball Joint Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 3-10. Installing Ball Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 4-1. System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Figure 4-2. Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Figure 4-3. User-Supplied 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Figure 4-4. Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . . 59

Figure 4-5. Single-Phase AC Power Installation from a Three-Phase AC Supply . . . . . . 59

Figure 4-6. AC Power Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Figure 5-1. Robot Status LED Indicator Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Figure 5-2. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Figure 5-3. Typical User Wiring for XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Figure 5-4. Typical User Wiring for XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Figure 5-5. Optional XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Figure 5-6. Typical Startup Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Figure 5-7. Ambiguity Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Figure 5-8. Illegal Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Figure 5-9. Legal Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Figure 7-1. Top Dimensions, Work Envelope, and Mounting Hole Pattern . . . . . . . . . . 85

Figure 7-2. Tool Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Figure 7-3. Work Envelope, Side View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Adept Quattro s650 Robot User’s Guide, Rev B 11

List of Figures

Figure 7-4. Arm Travel Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Figure 7-5. Robot Internal Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Figure 7-6. Mounting Frame, Orthogonal View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Figure 7-7. Mounting Frame, Side View 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Figure 7-8. Mounting Frame, Side View 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Figure 7-9. Mounting Frame, Detail 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Figure 7-10. Mounting Frame, Detail 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Figure 7-11. Mounting Frame, Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Figure 8-1. Securing Screw on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Figure 8-2. Opening the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Figure 8-3. Connectors on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Figure 8-4. Ground Screw on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Figure 8-5. Battery in Quattro Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Figure 8-6. SPEC Utility Load Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Figure 8-7. SPEC Save Specification Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Figure 9-1. AIB Cable Seal Housing (left), Installed (right) . . . . . . . . . . . . . . . . . . . . . . . 116

Figure 9-2. Cable Entry Top Cover Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Figure 9-3. Bottom of Cable Entry Top Cover, CF Frame . . . . . . . . . . . . . . . . . . . . . . . . 116

Figure 9-4. Adapting the module to the cable size (left) and

checking the gap in the module (right). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 9-5. Greasing a Roxtec Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 9-6. Installing Roxtec Modules into the Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Figure 9-7. Tightening the Compression Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Figure 9-8. Cable Entry Assembly with Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Figure 9-9. Ground Lug Attachment on the AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Figure 9-10. Installing Cable Entry Top Cover Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . 119

12 Adept Quattro s650 Robot User’s Guide, Rev B

1.1 Product Description

Adept Quattro s650 Robot

The Adept Quattro s650 robot is a four-axis parallel robot. See Figure 1-1. The four identical

axis motors control movement of the robot tool in X, Y, and Z directions, as well as Theta
rotation.

The Adept Quattro s650 robot requires an Adept SmartController CX for operation. The
robot is user-programmed and controlled using the SmartController.

NOTE: The Adept SmartController CX must be installed inside a NEMA-1
rated enclosure.

The robot servo code runs on an Adept SmartServo distributed motion control platform
embedded in the robot base.

Mechanical specifications for the Adept Quattro s650 robot are provided in Chapter 7.

Introduction 1

Figure 1-1. Adept Quattro s650 Robot

Adept Quattro s650 Robot User’s Guide, Rev B 13

Chapter 1 - Introduction

Mounting Pads

AIB

Base

Ball
Joints

Tool
Flange

Motor Cover

Inner Arm

Outer
Arms

Platform

Figure 1-2. Major Robot Components, Isometric View

Quattro Robot Base

The Adept Quattro s650 robot base is an aluminum casting that houses the four drive
motors, and supports the AIB (Amplifiers-In-Base). It provides four mounting pads for
attaching the base to a rigid support frame. The status LED and status panel are mounted
on the side of the robot base.

Adept AIB

The power amplifiers for the Adept Quattro s650 robot are embedded in the base of the
robot. This amplifier section is known as the AIB distributed motion control platform, and
provides closed-loop servo control of the robot amplifiers, as well as robot I/O.

Adept AIB features:

• On-board digital I/O: 12 inputs, 8 outputs

• Low EMI for use with noise-sensitive equipment

•No external fan

• 8 kHz servo rate

• Sine wave commutation

• Digital feed-forward design

• Temperature sensors on all amplifiers and motors

14 Adept Quattro s650 Robot User’s Guide, Rev B

Figure 1-3. Adept AIB

Product Description

Inner Arms

The four robot motors attach directly to the inner arms through a high-performance gear
reducer. Other than optional user-supplied hardware mounted on the platform, these are

the only drive motors in the Quattro. Figure 1-4 shows a precision carbon fiber assembly

of an inner arm. The RIA-compliant hard stops limit the inner arm motion to -51° and
+123°.

Figure 1-4. Robot Inner Arm

Adept Quattro s650 Robot User’s Guide, Rev B 15

Chapter 1 - Introduction

Ball Joints, Outer Arms

The inner arm motion is transmitted to the platform through the outer arms, which are
connected between the inner arms and platform with precision ball-joints. The outer arms
are carbon fiber epoxied assemblies with identical ball-joint sockets at each end. A bearing
insert at each socket accepts the ball-joint studs on the inner arms and platform, and

allows for ± 60° of relative motion. No ball-joint lubrication is required. See Figure 1-5.

Ball Joint Socket

Ball Joint

Socket Insert

Inner Arm

Outer

Arm
Springs

Outer
Arms

Ball Joint Stud

Figure 1-5. Ball Joints between Inner and Outer Arms

Each pair of outer arms is held together with springs that pretension the ball joint
assemblies. The outer arms can be installed and removed without the need for tools.

Platform

The platform converts the motion of the four Quattro motors into Cartesian motion and
Theta rotation of the robot tool.

Platform articulation is achieved by differentially driving the four motors. Tool rotation is
implemented with either a belt-drive mechanism or with direct-drive, for applications
needing higher rotation force but less rotation range.

The Adept Quattro s650 robot currently supports two types of platforms, depending on
the amount of Theta rotation and inertia needed by the customer.

NOTE: The two platforms require different robot parameters. The 4:1
platform is the default. If you have a 1:1 platform, contact your Adept
representative.

16 Adept Quattro s650 Robot User’s Guide, Rev B

Product Description

The 4:1 platform (P/N 08360-000) has a rotation range of ± 180°, achieved with a belt

drive. This is illustrated in Figure 1-6 and Figure 1-7.

The 1:1 platform (P/N 08660-000) has a rotation range of ± 50°. The tool flange is mounted
directly to the pivot link: it does not rotate in relation to the pivot link, so there is no idler

pulley or belt involved. This is illustrated in Figure 1-8 and Figure 1-9.
Refer to “Rotation and Payload Inertia - Range” on page 92 for details on rotation and

inertial loading of the platforms.

Both platforms are constructed such that the clocking of the platform relative to the robot

base is critical. This is detailed in “Clocking the Platform to the Base” on page 46.

Adept Quattro s650 Robot User’s Guide, Rev B 17

Chapter 1 - Introduction

Lateral
Link x 2

End-Effector
Pivot Link

Tool
Flange

Tool
Flange
Belt

Large
Sealing
Caps x 4

Tr ailing
Link

Ball Joint
Studs x 8

Figure 1-6. 4:1 Platform, Top View

Idler Pulley
Gear Segment

Tr ailing
Link

Small Sealing
Caps x 4

Tool
Flange
Belt

Belt
Clamp

Lateral
Link x 2

End-Effector
Pivot Link

Tool Flange

Figure 1-7. 4:1 Platform, Bottom View

18 Adept Quattro s650 Robot User’s Guide, Rev B

Idler
Pulley

Product Description

Lateral
Link x 2

End-Effector
Pivot Link

Tool
Flange

Small Sealing
Caps x 4

Tr ailing
Link

Ball Joint
Studs x 8

Figure 1-8. 1:1 Platform, Top View

Tr ailing
Link

Large
Sealing
Caps x 4

Lateral
Link x 2

End-Effector
Pivot Link

Tool Flange

Figure 1-9. 1:1 Platform, Bottom View

For shipping:

• The robot is disassembled, with the platform and outer arms removed.

• The platform is shipped pre-assembled as a unit.
The user will need to connect the outer arms between the inner arms and the
platform to reassemble the robot. The outer-arm assemblies are interchangeable.

Any end-effectors and their vacuum lines and wiring are user-supplied.

Adept Quattro s650 Robot User’s Guide, Rev B 19

Chapter 1 - Introduction

Adept SmartController CX

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

• Adept Quattro robots

• Adept Cobra s-series robots

• Adept Viper s-series robots

• Adept Python linear modules

• Adept MotionBlox-10

•Adept sMI6 (SmartMotion)

The Adept SmartController CX supports an integrated vision option and a conveyor
tracking option, as well as other options. 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 the Adept SmartServo distributed servo network, which supports Adept
products. The controller is commonly programmed through its Fast Ethernet port, which
can be on a distributed network or directly connected to a PC for programming.

R

SW1

1 2 3 4

ON

OFF

XDIO

SmartServo IEEE-1394

1.1 1.2 2.1 2.2

OK

SF ES HD

123

LANHPE

Figure 1-10. Adept SmartController CX

Refer to Adept SmartController User’s Guide for detailed SmartController specifications.

1.2 Installation Overview

The system installation process is summarized in the following table. Refer also to the

system cable diagram in Figure 4-1 on page 51.

Table 1-1. Installation Overview

Task to be Performed Reference Location

1. Mount the robot to a level, stable mounting frame. See Section 3.6 on page 41.

CAMERA

Device Net

Eth 10/100

BELT ENCODER

XUSR

XSYS

RS-232/TERM

RS-232-1

XFP

XMCP

RS-422/485

RS-232-2

*S/N 3562-XXXXX*

XDC1 XDC2

24V 5A

-+ -+

SmartController CX

2. Attach the robot outer arms and platform See Section 3.7 on page 46.

3. Install the SmartController, Front Panel, T1 Manual

See Section 4.3 on page 52.
Control Pendant (MCP) (if purchased), and
AdeptWindows user interface.

20 Adept Quattro s650 Robot User’s Guide, Rev B

Manufacturer’s Declaration

Table 1-1. Installation Overview

Task to be Performed Reference Location

4. Install the IEEE 139 4 and XSYS cables between
the robot and SmartController.

5. Create a 24 VDC cable and connect it between the
robot and the user-supplied 24 VDC power supply.

6. Create a 200-240 VAC cable and connect it
between the robot and the facility AC power source.

7. Install user-supplied safety barriers in the workcell. See Section 4.9 on page 62.

8. Read Chapter 5 to learn about connecting digital
I/O through the XIO connector on the robot.

9. Read Chapter 5 to learn about commissioning the
system, including system start-up and testing

operation.

10.Read Chapter 6 if you need to install optional
equipment, including end-effectors, us
electrical lines, external equipment, solenoids, etc.

1.3 Manufacturer’s Declaration

See Section 4.5 on page 54.

See Section 4.6 on page 54.

See Section 4.7 on page 57.

See Section 5.5 on page 67.

See Section 5.6 on page 73.

See Section 6.1 on page 83.

er air and

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

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

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

1.4 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

Adept Quattro s650 Robot User’s Guide, Rev B 21

Chapter 1 - Introduction

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Quattro s650
robot system. There are additional manuals that cover programming the system,

reconfiguring installed components, and adding other optional components; see T a ble 1-2.

These manuals are available on the Adept Document Library CD-ROM shipped with each
system.

Table 1-2. Related Manuals

Manual Title Description

Adept SmartController User’s
Guide

AdeptWindows Installation
Guide and AdeptWindows

Online Help

Instructions for Adept Utility
Programs

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

Describes complex network installations, installation and use of
NFS server software, the AdeptWindows Offline Editor, and the
AdeptWindows DDE software.

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

+

V+ Operating System User’s
Guide

Describes the V
operations, monitor commands, and monitor command

operating system, including disk file

programs.

+

V+ Language User’s Guide Describes the V

language and programming of an Adept

control system.

Adept T1 Pendant User’s

Describes use of the optional T1 Manual Control Pendant.

Guide
Adept ACE User’s Guide Describes the use of the Adept ACE graphical system

configuration application.

Adept SmartMotion

Describes the use of Adept Utilities, including SPEC.

Developer’s Guide

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 separate ADL 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.

22 Adept Quattro s650 Robot User’s Guide, Rev B

Safety 2

2.1 Warnings, Cautions, and Notes in Manual

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

DANGER: This indicates an imminently hazardous

electrical situation which, if not avoided, will result in
death or serious injury.

DANGER: This indicates an imminently hazardous

situation which, if not avoided, will result in death or
serious injury.

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: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.

Adept Quattro s650 Robot User’s Guide, Rev B 23

Chapter 2 - Safety

2.2 Warning Labels on the Robot

Figure 2-1 shows the warning labels on the Adept Quattro s650 robot.

Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis

2.3 Precautions and Required Safeguards

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

WAR NI NG : Adept Technology strictly prohibits

installation, commissioning, or operation of an Adept
robot without adequate safeguards according to
applicable local and national standards. Installations in EU
and EEA countries must comply with EN 775/ISO 10218,
especially sections 5,6; EN 292-2; and EN 60204-1,
especially section 13.

Safety Barriers

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

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

Section 2.8 on page 31).

The safe distance to the robot depends on the height of the safety fence. The height and
the distance of the safety fence from the robot must ensure that personnel cannot reach the
danger zone of the robot.

24 Adept Quattro s650 Robot User’s Guide, Rev B

Precautions and Required Safeguards

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

Impact and Trapping Points

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

DANGER: The robot system must be installed to avoid

interference with buildings, structures, utilities, other
machines and equipment that may create a trapping
hazard or pinch points.

Instructions for Emergency Movement without Drive Power

In an emergency, when AC power is removed from the system but DC power is still
present, the arm can be moved manually. The brake release button must be pressed to

enable arm movement. Refer to “Brake Release Button” on page 65.

Emergency Recovery Procedures

In an emergency, follow your internal procedures for emergency recovery of systems.

Additional Safety Information

The standards and regulations listed in this handbook contain additional guidelines for
robot system installation, safeguarding, maintenance, testing, startup, and operator

training. Table 2-1 lists some sources for the various standards.

Adept Quattro s650 Robot User’s Guide, Rev B 25

Chapter 2 - Safety

Table 2-1. Sources for International Standards and Directives

SEMI International Standards
3081 Zanker Road
San Jose, CA 95134
USA

Phone: [phone]
Fax: [phone]

http://www.semi.org

Underwriters Laboratories Inc.
333 Pfingsten Road
Northbrook, IL 60062-2096 USA

Phone: [phone]
Fax: [phone]

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

Global Engineering Documents
15 Inverness Way East
Englewood, CO 80112
USA

Phone [phone]
Fax [phone]

http://global.ihs.com

American National Standards Institute (ANSI)
11 West 42nd Street, 13th Floor
New York, NY 10036
USA

Phone [phone]
Fax [phone]

http://www.ansi.org

BSI Group (British Standards)
389 Chiswick High Road
London W4 4AL
United Kingdom

Phone [phone]
Fax [phone]

http://www.bsi-global.com

Document Center, Inc.
1504 Industrial Way, Unit 9
Belmont, CA 94002
USA

Phone [phone]
Fax [phone]

http://www.document-center.com

IEC, International Electrotechnical Commission
Rue de Varembe 3
PO Box 131
CH-1211 Geneva 20
Switzerland

Phone [phone]
Fax [phone]

http://www.iec.ch

DIN, Deutsches Institut für Normung e.V.
German Institute for Standardization
Burggrafenstrasse 6
10787 Berlin
Germany

Phone.: [phone]
Fax: [phone]

http://www.din.de
http://www2.beuth.de/ (publishing)

Robotic Industries Association (RIA)
900 Victors Way
PO Box 3724
Ann Arbor, MI 48106
USA

Phone [phone]
Fax [phone]

http://www.robotics.org

26 Adept Quattro s650 Robot User’s Guide, Rev B

Risk Assessment

2.4 Risk Assessment

Without special safeguards in its control system, the Adept Quattro s650 robot could
inflict serious injury on an operator working within its work envelope. Safety standards in
several countries require appropriate safety equipment to be installed as part of the

system. Table 2-2 lists some of the safety standards that affect industrial robots. It is not a

complete list. Safeguards must comply with all applicable local and national standards for
the location where the robot is installed.

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

International USA Canada Europe Title of Standard

ISO 10218 EN 775 Manipulating Industrial Robots -

Safety

ANSI/RIA
R15.06

CAN/CSA­Z434-94

Industrial Robots and Robot
Systems - Safety Requirements

EN 292-2 Safety of Machinery - Basic

Concepts, General Principles for
Design

EN 954-1 Safety Related Parts of Control

Systems - General Principles for
Design

EN 1050 Safety of Machinery - Risk

Assessment

Exposure

When Arm Power is ON, all personnel must be kept out of the robot work envelope by
interlocked perimeter barriers. The only permitted exception is for teaching the robot in

Manual Mode by a skilled programmer (see “Qualification of Personnel” on page 32), who
must wear safety equipment (see “Safety Equipment for Operators” on page 33) and carry

the T1 pendant. Therefore, exposure of personnel to hazards related to the robot is limited
(seldom and/or short exposure time).

Severity of Injury

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

Avoidance

A programmer must always carry the pendant when inside the work envelope, as the
pendant provides both E-Stop and Enabling switch functions.

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

Adept Quattro s650 Robot User’s Guide, Rev B 27

Chapter 2 - Safety

DANGER: The Adept-supplied system components

provide a Category 3 E-Stop control system as defined by
EN 954. The robot system must be installed with
user-supplied interlock barriers. The interlocked barrier
must open the E-Stop circuit in the event of personnel
attempting to enter the workcell when Arm Power is
enabled, except for teaching in Manual mode. Failure to
install suitable guarding or interlocks could result in
injury or death.

The E-stop circuit is Dual Channel (Redundant, Diverse, and Control Reliable).

See Figure 7-5 on page 89 for an E-stop internal circuit diagram.

Slow Speed Control Function and Testing

Adept robots can also be controlled manually when the operating mode key switch is in

MANUAL position and the HIGH POWER light on the Front Panel is illuminated.

the
When Manual mode is selected, motion can only be initiated from the pendant (T1). Per
EN 775/ISO 10218, the maximum speed of the robot is limited to 250 mm per second (10
ips) in Manual mode. It is important to remember that the robot speed is not limited when
the robot is in Automatic (AUTO) mode.

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

1. Programming from outside the safety barrier.

2. Programming with Arm Power OFF.

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

4. Off-line or CAD programming.

Control System Behavior Category

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

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

28 Adept Quattro s650 Robot User’s Guide, Rev B

The standard control system is fully hardened to all EMI influences per the EU EMC

Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots
Safety. In addition, a software-based reduced speed mode has been incorporated to limit

speed and impact forces on the operator and production tooling when the robot is
operated in Manual Mode.

The standard control system meets or exceeds the requirements imposed by the EN 954
specified Category 1 level of safety.

2.5 Intended Use of the Robots

The installation and use of Adept products must comply with all safety instructions and
warnings in this manual. Installation and use must also comply with all applicable local

and national requirements and safety standards (see Section 2.8 on page 31).

The Adept Quattro s650 robot is intended for use in parts assembly and material handling
for payloads less than 2.0 kg (4.4 lb).

The Adept Quattro s650 robot and the Adept SmartController are component
subassemblies of a complete industrial automation system. The controller must be
installed inside a suitable enclosure. The controller must not come into contact with
liquids.

Intended Use of the Robots

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

• In hazardous (explosive) atmospheres

• In mobile, portable, marine, or aircraft systems

• In life-support systems

• In residential installations

• In situations where the Adept equipment will be subject to extremes of heat or

humidity. See Table 3-1 on page 38 for allowable temperature and humidity

ranges.

WAR NI NG : The instructions for installation, operation,

and maintenance given in this User’s Guide must be
strictly observed.

Non-intended use of an Adept Quattro s650 robot can:

• Cause injury to personnel

• Damage the robot or other equipment

• Reduce system reliability and performance

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

• Have the necessary qualifications

• Read and follow exactly the instructions in this User’s Guide

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

Adept Quattro s650 Robot User’s Guide, Rev B 29

Chapter 2 - Safety

2.6 Robot Modifications

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

WAR NI NG : For safety reasons, it is prohibited to make

certain modifications to Adept robots.

Acceptable Modifications

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

• Attaching utility boxes, solenoid packs, vacuum pumps, cameras, lighting, etc., to
the robot base.

• Attaching hoses, pneumatic lines, or cables to the robot. These should be designed
so they do not restrict arm motion or cause robot motion errors.

• Attaching user tooling to the platform.

NOTE: Due to the kinematics of parallel robots, user cabling and tooling
can have a significant effect on robot performance, and must be budgeted
into the 2 kg payload rating of the Adept Quattro s650 robot. Significant
consideration should be placed on symmetrically loading the platform,
and not overloading one arm with respect to the others.

Unacceptable Modifications

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

CAUTION: Making any of the modifications outlined

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

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

• Modifying any robot access covers or drive system components.

• Modifying, including drilling or cutting, any robot casting.

• Modifying any robot electrical component or printed-circuit board.

• Modifications that compromise EMC performance, including shielding.

30 Adept Quattro s650 Robot User’s Guide, Rev B

2.7 Transport

Always use adequate equipment to transport and lift Adept products. See Chapter 3 for

more information on transporting, lifting, and installing.

WAR NI NG : Do not remain under the robot while it is transported.

2.8 Safety Requirements for Additional Equipment

Additional equipment used with the Adept Quattro s650 robot (grippers, conveyor belts,
etc.) must not reduce the workcell safeguards.

All emergency stop switches must always be accessible.

If the robot is to be used in an EU or EEA member country, all components in the robot
workcell must comply with the safety requirements in the European Machine Directive
89/392/EEC (and subsequent amendments) and related harmonized European,
international, and national standards. For robot systems, these include: EN 775/ISO
10218, sections 5,6; EN 292-2; and EN 60204. For safety fences, see EN 294.

Transport

In other countries, Adept strongly recommends, in addition to complying with the
applicable local and national regulations, that a similar level of safety be attained.

In the USA, applicable standards include ANSI/RIA R15.06 and ANSI/UL 1740.

In Canada, applicable standards include CAN/CSA Z434.

2.9 Sound Emissions

The sound emission level of the Adept Quattro s650 robot depends on the speed and
payload. The maximum value is under 90 dB. (This is at maximum

WAR NI NG : Acoustic emission from this robot may

approach 90 dB (A) under worst-case conditions. Typical
values will be lower, depending on payload, speed,
acceleration, and mounting. Appropriate safety measures
should be taken, such as ear protection and display of a
warning sign.

AUTO-mode speed.)

Adept Quattro s650 Robot User’s Guide, Rev B 31

Chapter 2 - Safety

2.10 Thermal Hazard

WAR NI NG : You can burn yourself on some surfaces of the

robot. Do not touch the robot casting shortly after the
robot has been running at high ambient temperatures
(40 - 50° C/104 - 122° F) or at fast cycle times (over 60
cycles per minute). The robot skin/surface temperature
can exceed 60° C (140° F).

2.11 Working Areas

Adept robots have a Manual and an Automatic (AUTO) operating mode. While in
Automatic Mode, personnel are not allowed in the workcell.

In Manual Mode, operators with additional safety equipment (see Section 2.13 on page 33)

are allowed to work in the robot workcell. For safety reasons the operator should,
whenever possible, stay outside of the robot work envelope to prevent injury. The
maximum speed and power of the robot is reduced but it could still cause injury to the
operator.

Before performing maintenance in the work envelope of the robot, High Power must be
switched OFF and the power supply of the robot must be disconnected. After these

precautions, a skilled person is allowed to maintain the robot. See Section 2.12 for the

specifications of personnel qualifications.

WAR NI NG : Never remove any safeguarding and never

make changes in the system that will decommission a
safeguard.

2.12 Qualification of Personnel

This manual assumes that all personnel have attended an Adept training course and have
a working knowledge of the system. The user must provide the necessary additional
training for all personnel who will be working with the system.

As noted in this User’s Guide, certain procedures should be performed only by skilled or
instructed persons. For a description of the level of qualification, Adept uses the standard
terms:

• Skilled persons have technical knowledge or sufficient experience to enable them
to avoid the dangers, electrical and/or mechanical.

• Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers, electrical and/or mechanical.

32 Adept Quattro s650 Robot User’s Guide, Rev B

Safety Equipment for Operators

All personnel must observe sound safety practices during the installation, operation, and
testing of all electrically powered equipment. To avoid injury or damage to equipment,
always remove power by disconnecting the AC power from the source before attempting
any repair or upgrade activity. Use appropriate lockout procedures to reduce the risk of
power being restored by another person while you are working on the system.

DANGER: Any person who programs, teaches, operates,

maintains or repairs the robot system must be trained and
demonstrate the competence to safely perform the
assigned task.

The user must get confirmation from every entrusted
person before they start working with the robot that the
person:

1. Has received the User’s Guide

2. Has read the User’s Guide

3. Understands the User’s Guide

4. Will work in the manner specified by the User’s Guide

2.13 Safety Equipment for Operators

Adept advises operators to wear extra safety equipment in the workcell. For safety
reasons operators must wear the following when they are in the robot workcell.

• Safety glasses

• Protective headgear (hard hat)

•Safety shoes

Install warning signs around the workcell to ensure that anyone working around the
robot system knows they must wear safety equipment.

2.14 Protection Against Unauthorized Operation

The system must be protected against unauthorized use. Restrict access to the keyboard
and the pendant by locking them in a cabinet or use another adequate method to prevent
access to them.

2.15 Safety Aspects While Performing Maintenance

Only skilled persons with the necessary knowledge about the safety and operating
equipment are allowed to maintain the robot and controller.

WAR NI NG : During maintenance and repair, the power to

the robot and controller must be turned off. Unauthorized
third parties must be prevented, through the use of
lockout measures, from turning on power.

Adept Quattro s650 Robot User’s Guide, Rev B 33

Chapter 2 - Safety

2.16 Risks Due to Incorrect Installation or Operation

Take precautions to ensure that these situations do not occur:

• Purposely defeating any aspect of the safety E-Stop system

• Improper installation or programming of the robot system

• Use of cables other than those supplied or use of modified components in the
system

• Defeating interlock so that operator can enter workcell with High Power ON

2.17 What to Do in an Emergency

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

34 Adept Quattro s650 Robot User’s Guide, Rev B

Robot Installation 3

3.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment,
within the range –25° to +55° C (-13° to 131° F). The recommended humidity range is 5 to
90 percent, non-condensing. It should be shipped and stored in the Adept-supplied crate,
which is designed to prevent damage from normal shock and vibration. You should
protect the crate from excessive shock and vibration.

Use a forklift, pallet jack, or similar device to transport and store the packaged equipment.

The robots must always be stored and shipped in an upright position in a clean, dry area
that is free from condensation. Do not lay the crate on its side or any other position: this
could damage the robot.

The Adept Quattro s650 robot weighs 117 kg (258 lb) with no options installed.

3.2 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 any
damage is indicated, request that the carrier’s agent be present at the time the container is
unpacked.

Unpacking

The Adept Quattro s650 robot is shipped in a crate that holds the robot base, outer arms,
platform, controller, miscellaneous hardware, and any accessories ordered. The crate will
be either wooden or combined wood and cardboard.

The top of the crate should be removed first.

• Wooden crate: Remove the spring clamps attaching the top to the rest of the crate.

• Combination wood/cardboard crate: Remove the bands holding the top to the rest
of the crate.

Refer to Figure 3-1.

The outer arms will be above the robot base. These should be removed from the crate,
followed by the cardboard and foam that support them.

Adept Quattro s650 Robot User’s Guide, Rev B 35

Chapter 3 - Robot Installation

Figure 3-1. Quattro Shipping Crates

The robot base is shipped with the inner arms attached. The outer arms are shipped
assembled in pairs; the platform is shipped fully assembled, but separate from the robot
base and outer arms.

The robot base is held by lag bolts to the crate sides. Under the robot base, the ancillary
items will be attached to the crate bottom.

• Wooden crate: Remove the spring clamps and the front panel to access the
material shipped with the robot, and to lift the robot out of the crate with a forklift.

NOTE: Remove the lag bolt holding the robot base to the front panel
before attempting to remove the front panel.

• Combination wood/cardboard crate: Lift off the cardboard sides.

Refer to Figure 3-2.

Two M20 eyebolts and jam nuts will be packed with the spares. These can be used for
lifting the robot.

36 Adept Quattro s650 Robot User’s Guide, Rev B

Repacking for Relocation

Figure 3-2. Crates with Front Panel/SIdes Removed

Upon Unpacking

Before signing the carrier’s delivery sheet, compare the actual items received (not just the
packing slip) with your equipment purchase order. 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 (see Section 1.4 on page 21).

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

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

3.3 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.

CAUTION: The robot must always be shipped in an

upright orientation.

Adept Quattro s650 Robot User’s Guide, Rev B 37

Chapter 3 - Robot Installation

3.4 Environmental and Facility Requirements

The Adept Quattro s650 robot system installation must meet the operating environment

requirements shown in Table 3-1.

Table 3-1. Robot System Operating Environment Requirements

Ambient temperature 1 to 50° C (34 to 122° F)

Humidity 34 to 90%, noncondensing

Altitude up to 2000 m (6500 ft)

Pollution degree 2 (IEC 1131-2/EN 61131-2)

Protection class: robot base IP 65 (with optional cable sealing kit)

Protection class: rest of robot IP 67

Note: See “Dimension Drawings” on page 85 for robot dimensions.
Note: See “Connecting 24 VDC Power to Robot” on page 54 and “Connecting 200-240 VAC

Power to Robot” on page 57 for power requirements.

Note: The Adept SmartController CX must be installed inside a NEMA-1 rated enclosure. The
controller must not come into contact with liquids.

3.5 Mounting Frame

Overview

The Adept Quattro s650 robot is designed to be mounted above the work area suspended
on a user-supplied frame. The frame must be adequately stiff to hold the robot rigidly in
place while the robot platform moves around the workspace.

While Adept does not offer robot frames for purchase, and the frame design is the
responsibility of the user, we provide here some general guidelines as a service to our
users. Adept makes no representation or warranty with respect to these guidelines, or the
rigidity and longevity of the structure designed and built by the user or for the user by a
third party using these guidelines. In addition, when the robot is mounted on the
structure based on these guidelines, Adept does not guarantee that the robot will perform
to the specifications given in this product documentation, due to user ’s frame or user’s
production environmental factors.

As an example, a sample frame design is presented and discussed. For generalized
application performance, frames built to the specifications of this sample should
experience no degradation in robot performance due to frame motions. Applications
requiring higher than 2 kg * 10 g forces across the belt and/or 2 kg * 3 g along the belt may
require a stiffer frame design.

38 Adept Quattro s650 Robot User’s Guide, Rev B

SEE DETAIL 2

Mounting Frame

SEE DETAIL 1

2000.0

MATERIAL SIZING:

150mm X 150mm X 6mm SQUARE STRUCTURAL TUBINGA.
120mm X 120mm X 10mm SQUARE STRUCTURAL TUBINGB.
250mm X 250mm X 15mm TRIANGULAR GUSSETC.

1800.0

2000.0

UNLESS OTHERWISE SPECIFIED:

* DIMENSIONS ARE IN MILLIMETERS

A

4x

SEE DETAIL 1

A

B

2x

A

C

20x

4x

4x

Figure 3-3. Sample Quattro Mounting Frame

NOTE: More specifications for the sample frame are provided in

Section 7.6.

Any robot’s ability to settle to a fixed point in space is governed by the forces, masses, and
accelerations of the robot. Since “every action has an equal and opposite reaction”, these
forces are transmitted to the robot frame and cause the frame and base of the robot to
move and possibly vibrate in space. As the robot system works to position the tool flange
relative to the base of the robot, any frame motion in the base of the robot will be
“unobservable” to the robot system and will be transmitted to the tool flange. This
transmitted base motion will result in inertial movement of the tool flange mass, and will
cause disturbance forces to be introduced into the robot control system. These disturbance
forces cause “work” to be done by the robot servo control system which may result in
longer settling times for robot operations.

It is important to note that, even after the system reports the robot to be fully settled, the
tool flange will still be moving by any amount of motion that the suspended base of the
robot may be experiencing.

Adept Quattro s650 Robot User’s Guide, Rev B 39

Chapter 3 - Robot Installation

Frame Orientation

The sample robot frame design is stiffer in one direction than the other. This is to
accommodate belt conveyor applications where the robot is moving with much more
acceleration across a conveyor belt than along it. The conveyor should generally be
aligned so the belt travel is along the robot world Y axis, and the mid-height frame
members cross the belt at a 90° angle. The across-the-belt dimension of the frame should
be minimized to get the best performance of the robot in that direction. While this frame
design assumed a 1.8 m across-the-belt frame dimension, a 1.5 m dimension would offer
increased stiffness and possibly increased robot performance at high accelerations and
payloads. The mid-height horizontal members are important to the frame stiffness, and
should be located as close to the belt as possible.

For applications requiring high accelerations along the direction of belt travel,
consideration should be given to strengthening the frame in that direction.

Frame Construction

Typically, the frame is constructed of welded steel members. Hygiene-sensitive
applications may call for stainless steel fabrication, with care taken to seal up all possible
voids and grind smooth all weld joints. For other applications it may be suitable to
manufacture the frame of carbon steel and paint the resulting assembly. The frame design
presented here is based on a
customers may choose to use tubular members - or turn horizontal members at 45° angles
to allow for water runoff from the flat frame surfaces.

steel construction using 10 mm thick members. Some

Robot-to-Frame Considerations

The Quattro has a moderately-complex mounting requirement due to the nature of the

parallel-arm kinematics and the need to minimize the robot size and mass. Figure 7-3 on

page 87 and Figure 7-4 on page 88 show the inner arm travel and how it may encroach on

the robot mounting points. The design suggested here uses transition pieces to allow for
butt welds and mating interfaces where there will be no protruding surfaces to collect
contamination. This mounting design results in a natural frequency of about 90 Hz for just
the robot mounting members, but not the entire frame assembly. Alternate designs should
consider 90 Hz as a goal for this part of the frame. Note that this design allows for
lengthening the frame in the direction along the belt travel without significantly changing
the natural frequency.

The robot mounts in four locations, as detailed in the drawings. The holes are tapped for
an M20 or M16 bolt clearance, which provides flexibility in mounting and robot
installation. The Adept Quattro s650 robot may be mounted from the top or bottom of the
frame. A crane or forklift should be used to position the robot. If lifted from above, the
robot must be lifted by the provided eyebolts using slings or other user-supplied
fasteners.

Figure 7-1 on page 85 shows the mounting hole pattern for the Adept Quattro s650 robot.

Note the hole location and mounting pad tolerances for position and flatness (Figur e 7-7

on page 95).

40 Adept Quattro s650 Robot User’s Guide, Rev B

Mounting the Robot Base

NOTE: Deviation from this flatness specification will cause stress to be
taken up by the robot base as well as the mounting frame. Over time, this
stress may be relieved by either member, causing a possible loss of robot
calibration. Extreme strain in the robot base will cause a shift in the robot
axes and result in increased robot wear and performance degradation.

For this reason, Adept suggests considering welding the robot
mounting tabs as a last step in the frame fabrication, using a flat
surface as a datum surface during the tack welding operation.

Gussets

The triangular gussets are an integral part of the frame stiffness. The vibrational strength
of a structural assembly is strongly governed by controlling the shear forces between

members. The 250 mm gussets, shown in Figure 3-3 on page 39, are nominally sufficient

for transferring the load from the vertical members into the horizontal cross pieces.
Preferably, gussets should be placed at the edges of the frame members to transfer the
loading into the walls of the members, instead of the faces, and enable easier cleaning.
Some frame designs may benefit from extending these gussets to 500 mm in the vertical
direction, as the design intent of the gussets is mainly to secure the long vertical members
from rotating out of position. For this reason, the gussets to the across-the-belt horizontal

member should be at the bottom of the member, as shown in Figure 3-3 on page 39, and as

close to the vertical midplane of the frame as feasible (15 mm thickness is adequate for
most situations).

3.6 Mounting the Robot Base

NOTE: All mounting hardware is user-supplied.

CAUTION: Remove all ancillary components (controller,

outer arms, platform, etc.) from the shipping crate before
lifting the robot base.

Robot Orientation

Adept recommends mounting the Adept Quattro s650 robot so the diagnostic display
faces away from the conveyor belt. Although the work envelope of the robot is
symmetrical, this orientation gives better access to the status display, status LED, and
brake release button. It also balances the arm loading for aggressive moves across the belt
axis.

This orientation places the robot World Y-axis along the conveyor belt, and the X-axis
across the belt.

Mounting Surfaces

Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane.

Adept Quattro s650 Robot User’s Guide, Rev B 41

Chapter 3 - Robot Installation

CAUTION: Failure to mount the Quattro robot within

0.75 mm of a flat plane will result in inconsistent robot
motions.

Mounting Options

Using the mounting frame design provided by Adept, there are several options for
mounting the Adept Quattro s650 robot:

• Lower the robot into the frame from above, or
Lift the robot into the frame from below.

• Place the robot mounting pads on top of the frame mounting pads, or
Place the robot mounting pads under the frame mounting pads.

• Use M20 bolts threaded into the holes in the robot mounting pads, or
Use M16 (or 5/8 in.) bolts through the holes in the robot and frame mounting pads
into user-supplied washers and nuts.

CAUTION: Do not attempt to lift the robot from any points

other than the eyebolts provided, with slings as described
here, or with a padded board, as described here.

Mounting Procedure from Above the Frame

The Adept Quattro s650 robot provides four mounting pads. Each pad has one M20
threaded hole that can be used with either an M20 bolt or as an M16 (5/8 in.) clearance
hole. The robot can be mounted either on top of the frame pads, using the bottom surface
of the robot base pads, or to the bottom of the frame pads, using the top surface of the
robot base pads.

Mounting to Top of Frame Pads

1. Locate the two M20 eyebolts stowed in the crate.

2. Remove all lag bolts from the robot base mounting pads.

3. Screw the M20 eyebolts into opposing robot mounting pads, so the robot will be

balanced when lifted.

4. Lock each eyebolt with a jam nut.

5. Connect slings to the M20 eyebolts and take up any slack in the slings.

CAUTION: Do not attempt to lift the robot from any points

other than the provided eyebolts. Failure to comply could
result in the robot falling and causing either personnel
injury or equipment damage.

6. Lift the robot and position it directly over the mounting frame.

42 Adept Quattro s650 Robot User’s Guide, Rev B

Mounting the Robot Base

7. Slowly lower the robot while aligning the M20 holes in the robot mounting pads
with the holes in the frame mounting pads.

8. When the mounting pad surfaces are touching, remove the slings and M20
eyebolts. Retain the eyebolts for future use.

9. Follow the instructions in “Install Mounting Hardware” on page 44.

Mounting to Bottom of Frame Pads

Since the eyebolts would be in the way of this mounting method, you will have to use
slings or other means to lift the robot base. Nylon slings can be wrapped across the center

of the robot base, away from the inner arms. See Figure 3-4.

1. Remove all lag bolts from the mounting pads before lifting the robot base.

2. Wrap slings around the robot base. See Figure 3-4 for two methods.

NOTE: Make sure the slings do not touch the status panel or inner arms.

Slings

Slings

Figure 3-4. Location of Slings for Lifting Robot Base

3. Lift the robot and position it directly over the mounting frame.

4. Slowly lower the robot while rotating it slightly, so the four mounting pads are
lowered past the frame mounting pads without touching.

5. When the robot base mounting pads are below the lower surface of the frame
mounting pads, rotate the robot base so the M20 threaded holes in the robot base
mounting pads align with the holes in the frame mounting pads.

6. Lift the robot base up, keeping the holes in the robot base pads and the frame
pads aligned, until the top surfaces of the robot base pads are touching the bottom
surface of the frame mounting pads.

7. Follow the instructions in “Install Mounting Hardware” on page 44.

Adept Quattro s650 Robot User’s Guide, Rev B 43

Chapter 3 - Robot Installation

Mounting Procedure from Below the Frame

The Adept Quattro s650 robot provides four mounting pads. Each pad has one M20
threaded hole that can be used with either an M20 bolt, or as an M16 (5/8 in.) clearance
hole. The robot can be mounted either on top of the frame pads, using the bottom surface
of the robot base pads, or to the bottom of the frame pads, using the top surface of the
robot base pads.

The Adept Quattro s650 robot can be mounted from the beneath the mounting frame
using a forklift. Use a padded board as a support under the robot base. The robot base can
be rotated by hand, once mounted on the lifting pad on a forklift, when needed for
clearing obstacles.

Mounting to Bottom of Frame Pads

1. Remove all lag bolts from the mounting pads before lifting the robot base.

2. Lift the robot and position it directly under the mounting frame.

3. Slowly lift the robot while aligning the M20 holes in the robot mounting pads
with the holes in the frame mounting pads.

4. Lift the robot until the top of the robot base mounting pads are touching the
bottom of the frame mounting pads.

5. Follow the instructions in “Install Mounting Hardware” on page 44.

Mounting to Top of Frame Pads

1. Remove all lag bolts from the mounting pads before lifting the robot base.

2. Lift the robot so the mounting pads are directly under the mounting pads of the
frame.

3. Slowly lift the robot while rotating it slightly, so that the four mounting pads are
raised past the frame mounting pads without touching.

4. When the robot base mounting pads are above the top surface of the frame
mounting pads, rotate the robot base so the M20 threaded holes in the robot base
mounting pads align with the holes in the frame mounting pads.

5. Slowly lower the robot base while aligning the M20 holes in the robot mounting
pads with the holes in the frame mounting pads.

6. Continue lowering the robot base until the bottom surface of the robot base
mounting pads are touching the top surface of the frame mounting pads.

7. Follow the instructions in “Install Mounting Hardware” on page 44.

Install Mounting Hardware

NOTE: When mounting the robot, note the following:

• The base casting of the robot is aluminum and can be dented if bumped
against a harder surface.

• Verify that the robot is mounted squarely before tightening the mounting
bolts.

• All mounting hardware is user-supplied.

44 Adept Quattro s650 Robot User’s Guide, Rev B

Mounting the Robot Base

1. If you are mounting the robot base to the frame with M20 bolts:

• Place flat and split lock washers on the bolts.

• Insert the bolts through the holes in the frame mounting pads and into the
threaded holes in the robot base mounting pads.

2. If you are mounting the robot base to the frame with M16 bolts

• Place flat and split lock washers on the bolts.

• Insert the bolts through the holes in the frame and robot base mounting pads
into matching washers and nuts.

3. Tighten the mounting hardware to the specifications listed in Table 3-2.

NOTE: Check the tightness of the mounting bolts one week after initial
installation, and then recheck every 6 months. See Chapter 8 for periodic
maintenance.

Table 3-2. Mounting Bolt Torque Specifications

Standard Size Specification Torque

Bolt clear through base (pitch determined by user-selected hardware)

Metric M16 ISO Property Class 8.8 170 N•m (125 ft-lb)

SAE 5/8 SAE Grade 5 170 N•m (125 ft-lb)

Threaded into base (aluminum)

Metric M20 x P2.5 ISO Property Class 8.8 136 N•m (100 ft-lb)

Adept Quattro s650 Robot User’s Guide, Rev B 45

Chapter 3 - Robot Installation

3.7 Attaching the Outer Arms and Platform

Base

Motor Covers

Mounting
Pads

Platform

AIB

Outer Arms

Inner Arms

Ball Joints

Figure 3-5. Major Robot Components, Top View

The Adept Quattro s650 robot platform is attached to the inner arms by the outer arms.
One pair of outer arms attaches to each inner arm.

NOTE: Except for attaching the outer arms and end-effector tooling, the
platform is shipped fully assembled.

Clocking the Platform to the Base

The rotational alignment (clocking) of the platform to the base is critical to the correct
operation of the Adept Quattro s650 robot.

CAUTION: Incorrect clocking of the platform will result in

incorrect robot performance.

• Each inner arm end cap is labeled with a joint number (1 - 4). See Figure 3-6.

NOTE: The end caps of inner arms supplied as spares will not be labeled
with a number.

• The ends of the platform cross-pieces (between each pair of ball studs) are labeled
with matching designators (1 - 4).

• In addition, +X and +Y World Coordinates are labeled near the ‘2’ and ‘3’ platform

labels. See Figure 3-7 on page 47.

• When installing the platform, the numbers between the platform ball studs match
the numbers on the end caps of the inner arms to which they are attached.

46 Adept Quattro s650 Robot User’s Guide, Rev B

Attaching the Outer Arms and Platform

1

Figure 3-6. End Cap Labeling, Joint #1

1

P/N: 08360-000

+X

2

Dowel
Pin Hole

Figure 3-7. Platform Orientation Labeling

NOTE: The labeling on the 1:1 platform is the same as the labeling on the

4:1 platform shown in Figure 3-7, except for the part number.

+Y

4

3

Adept Quattro s650 Robot User’s Guide, Rev B 47

Chapter 3 - Robot Installation

Attaching the Outer Arms

One pair of outer arms attaches between each inner arm and the platform. No tools are
needed.

• The outer arms have a ball joint socket at each end.

CAUTION: Ensure that the bearing insert is in place in the end of each

outer arm. If an insert has fallen out of the arm, simply press it into the
arm end.

• The inner arms and the platform have mating pairs of ball studs.

• Outer arm pairs are shipped assembled. Each pair has two springs at each
end.

• The procedure for attaching outer arms is the same for all platforms.

Figure 3-8. Inner Arm Ball Studs

48 Adept Quattro s650 Robot User’s Guide, Rev B

Ball Joint Socket

Ball Joint Socket Insert

Inner Arm

Attaching the Outer Arms and Platform

Spring Post

Spring

Bushing

Ball Joint Stud

Outer

Arm

Springs

Figure 3-9. Ball Joint Assembly

WAR NI NG : Pinch hazard. Ball joints are spring-loaded. Be

careful not to pinch your fingers.

Outer

Arms

Figure 3-10. Installing Ball Joints

CAUTION: Do not overstretch the outer arm springs.

Separate the ball joint sockets only enough to fit them over
the ball studs.

Adept Quattro s650 Robot User’s Guide, Rev B 49

Chapter 3 - Robot Installation

NOTE: In the following steps, take care not to trap debris between the
balls and their sockets.

1. Attach one pair of outer arms to each inner arm.

a. As illustrated in Figure 3-10, the outer arm assembly is most easily achieved

by pivoting the two arms away from each other lengthwise. This requires the
least stretching of the spring to attach the ball joints.

b. Slip one ball joint socket over the corresponding ball.

c. Swing the bottom end of the outer arm pair sideways as you slip the other

ball joint socket over the corresponding ball.

2. Attach one pair of outer arms to each of the four pairs of ball studs on the
platform.
The platform is installed flange-down.

NOTE: Ensure that the numbers on the platform match the numbers on
the end caps of the inner arms. This will place the platform tool flange
closest to the diagnostic display. See “Clocking the Platform to the Base”

on page 46.

a. Swing the bottom end of the outer arm pair to the right, as far as possible.

b. Slip the left ball joint socket over the left ball stud. (Move the platform as

needed to do this.)

c. Move the platform and outer arm pair to the left as you slip the right ball

joint socket over the corresponding ball.

50 Adept Quattro s650 Robot User’s Guide, Rev B

System Installation 4

4.1 System Cable Diagram

IEEE 1394 Cable
Controller SmartServo (Port 1.1) to
Robot SmartServo (Port 1)

Adept
SmartController

R

SmartServo IEEE-1394

OK

LANHPE

1.1 1.2 2.1 2.2

SW1

SF ES HD

1 2 3 4

ON

OFF

123

XDIO

Terminator
Installed

XUSR

User-Supplied Ground Wire

Controller (XFP) to
Front Panel (XFP)

CAMERA

Device Net

Eth 10/100

BELT ENCODER

XFP

XSYS

RS-232/TERM

*S/N 3562-XXXXX*

RS-422/485

RS-232-2

RS-232-1

XDC1 XDC2

XMCP

24V 5A

-+ -+

SmartController CX

XSYS Cable
Controller (XSYS) to
Robot (XSLV)

Adept Quattro
s650 Robot AIB

Ethernet to PC

R

Front Panel

Controller (XMCP) to T1

User-Supplied Desktop
or Laptop PC running
AdeptWindows

NOTE: See “Installing 24 VDC Robot Cable” on page 5 6 for additional

system grounding information.

STOP

24 VDC Power to
Controller (XDC1)

T1 Pendant
(optional)

24 VDC Power
to Robot
(+24 VDC Input)

User-Supplied
24 VDC Power
Supply

Figure 4-1. System Cable Diagram

User-Supplied
Ground Wire on
Robot Base

GND

+24V
DC INPUT
(24 VDC)

AC INPUT

(200-240 VAC 1&)

1

XSLV

2

SmartServo

RS-232

XPANEL

XIO

User-Supplied
200-240 VAC,
single-phase

Adept Quattro s650 Robot User’s Guide, Rev B 51

Chapter 4 - System Installation

4.2 Cable Parts List

Part Description Part Number Notes

IEEE 1394 Cable, 4.5 M 10410-10545 Standard cable -

XSYS Cable, 4.5 M 02928-000 Standard cable -

Front Panel Cable 10356-10500 Supplied with Front

T1 Pendant Adapter Cable 05002-000 Supplied with

Table 4-1. Cable Parts List

supplied with system

supplied with system

Panel

optional T1 pendant

Power Cable Kit - contains 24 VDC
and AC power cables

XIO Breakout Cable, 12 inputs/
8 outputs, 5 meter

04972-000 Available as option

04465-000 Available as option -

4.3 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 T1 (if purchased) to the SmartController.

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 AdeptWindows PC user interface. Refer to the AdeptWindows

Installation Guide.

see page 72.

52 Adept Quattro s650 Robot User’s Guide, Rev B

Description of Connectors on Robot Interface Panel

4.4 Description of Connectors on Robot Interface Panel

200-240 VAC

Ground
Point

24 VDC
Input

+24 VDC
Pin

XIO

XSLV

SmartServo Port 1

SmartServo Port 2

RS-232

XPANEL

Figure 4-2. Robot Interface Panel

24 VDC - for connecting user-supplied 24 VDC to the robot. The mating connector is

provided.

Ground Point - for connecting cable shield from user-supplied 24 VDC cable.

200/240 VAC - for connecting 200-240 VAC, single-phase, input power to the robot. The

mating connector is provided.

XSLV - for connecting the supplied XSYS cable from the controller XSYS connector. (DB-9,

female)

SmartServo 1 & 2 - for connecting the IEEE 1394 cable from the controller (SmartServo

1.1) to the robot upper connector (SmartServo 1). The robot lower connector
(SmartServo 2) can be used to connect to a second robot or another 1394-based motion
axis.

RS-232 - not used with Quattro robots

XPANEL - not used with Quattro robots

XIO - for user I/O signals for peripheral devices. This connector provides 8 outputs and

12 inputs. See 5.5 on page 67 for connector pin allocations for inputs and outputs. That

section also contains details on how to access these I/O signals via V+. (DB26, high
density, female)

Adept Quattro s650 Robot User’s Guide, Rev B 53

Chapter 4 - System Installation

4.5 Cable Connections from Robot to SmartController

1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS cable (length 4.5 M). They
are typically shipped in the cable/accessories box.

2. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 or 1.2
connector on the SmartController, and install the other end into the SmartServo

port 1 connector on the robot interface panel. See Figure 4-1 on page 51.

NOTE: The IEEE 1394 cable MUST be in either the 1.1 or 1.2 SmartServo
port of the SmartController. Do NOT use the 2.1 or 2.2 ports.

3. Install the XSYS cable between the robot interface panel XSLV safety interlock
connector and XSYS connector on the SmartController, and tighten the latching
screws.

4.6 Connecting 24 VDC Power to Robot

Specifications for 24 VDC Robot and Controller Power

Table 4-2. 24 VDC User-Supplied Power Supply

Customer-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A)

(21.6 V< V

Circuit Protection

Power Cabling 1.5 – 1.85 mm² (16-14 AWG)

Shield Termination Braided shield connected to ‘-’ terminal at

a

User-supplied 24 VDC power supply must incorporate overload protection to limit
peak power to less than 300 W, or 8 A in-line fuse protection must be added to the 24
VDC power source. (In case of multiple robots on a common 24 VDC supply, each
robot must be fused individually.)

NOTE: Fuse information is located on the AIB electronics.

The power requirements for the user-supplied power supply will vary depending on the
configuration of the robot and connected devices. Adept recommends a 24 VDC, 6 A
power supply to allow for startup current draw and load from connected user devices,
such as solenoids and digital I/O loads. If multiple robots are to be sourced from a
common 24 VDC power supply, increase the supply capacity by 3 A for each additional
robot.

a

Output must be < 300 W peak, or
8 Amp in-line fuse

both ends of cable. See Figure 4-3 on

page 57.

< 26.4 V)

in

54 Adept Quattro s650 Robot User’s Guide, Rev B

Connecting 24 VDC Power to Robot

CAUTION: Make sure you select a 24 VDC power supply

that meets the specifications in Table 4-2. Using an

underrated supply can cause system problems and
prevent your equipment from operating correctly. See

Table 4-3 for recommended power supplies.

Table 4-3. Recommended 24 VDC Power Supplies

Vendor Name Model Ratings

XPiQ JMP160PS24 24 VDC, 6.7 A, 160 W

AstroDyne SP-150-24 24 VDC, 6.3 A, 150 W

Mean Well SP-150-24 24 VDC, 6.3 A, 150 W

Details for 24 VDC Mating Connector

The 24 VDC mating connector and two pins are supplied with each system. They are
typically shipped in the cable/accessories box.

Table 4-4. 24 VDC Mating Connector Specs

Connector Details Connector receptacle, 2 position, type:

Molex Saber, 18 A, 2-Pin

Ground

Molex P/N 44441-2002

Digi-Key P/N WM18463-ND

24 VDC

Pin Details Molex connector crimp terminal,

female, 14-18 AWG

Molex P/N 43375-0001

Digi-Key P/N WM18493-ND

Recommended crimping tool: Molex Hand
Crimper

Molex P/N 63811-0400

Digi-Key P/N WM9907-ND

NOTE: The 24 VDC cable is not supplied with the system, but is available
in the optional Power Cable kit. See Table 4-1 on page 52.

Adept Quattro s650 Robot User’s Guide, Rev B 55

Chapter 4 - System Installation

Procedure for Creating 24 VDC Cable

1. Locate the connector and pins from Table 4-4.

2. Use 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely
reach from the user-supplied 24 VDC power supply to the robot base.

NOTE: A separate 24 VDC cable is required for the SmartController. That
cable uses a different style of connector. See the Adept SmartController

User’s Guide.

3. Crimp the pins onto the wires using the crimping tool recommended in Table 4-4

on page 55.

4. Insert the pins into the connector. Confirm that the 24 VDC and ground wires are
in the correct terminals in the plug.

5. Prepare the opposite end of the cable for connection to your user-supplied
24 VDC power supply.

Installing 24 VDC Robot Cable

1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC

power supply. See Figure 4-3. The cable shield should be connected to frame

ground on the power supply. Do not turn on the 24 VDC power until instructed to

do so in Chapter 5.

2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on
the interface panel on the top of the robot. The cable shield should be connected to
the ground point on the interface panel.

56 Adept Quattro s650 Robot User’s Guide, Rev B

Adept Quattro
s650 Robot

Connecting 200-240 VAC Power to Robot

GND

–

+

Attach shield from user­supplied cable to ground
screw on Quattro s650
Interface Panel.

Adept SmartController

+

-

NOTE: To comply with EN standards, Adept recommends that DC power
be delivered over a shielded cable, with the shield connected to the return
conductors at both ends of the cable.

User-Supplied Shielded
Power Cable

Attach shield from user-supplied
cable to side of controller using
star washer and M3 x 6 screw.

User-Supplied Shielded
Power Cable

Figure 4-3. User-Supplied 24 VDC Cable

User-Supplied
Power Supply
24 VDC

+

24 V, 6 A

–

Frame Ground

+

24 V, 5 A

–

Attach shield from user­supplied cables to frame
ground on power supply.

4.7 Connecting 200-240 VAC Power to Robot

WAR NI NG : Appropriately-sized Branch Circuit Protection

and Lockout / Tagout Capability must be provided in
accordance with the National Electrical Code and any
local codes.

Ensure compliance with all local and national safety and
electrical codes for the installation and operation of the
robot system.

Adept Quattro s650 Robot User’s Guide, Rev B 57

Chapter 4 - System Installation

Specifications for AC Power

Table 4-5. Specifications for 200/240 VAC User-Supplied Power Supply

Auto-Ranging
Nominal
Voltage
Ranges

200 to 240 V 180 V 264 V 50/60 Hz

a

Specifications are established at nominal line voltage. Low line voltage can affect
robot performance.

NOTE: The Adept robot system is intended to be installed as a piece of
equipment in a permanently-installed system.

NOTE: Adept products are designed for connection to
symmetrically-earthed, three-phase AC mains systems (with grounded
neutral). Connections called out as single-phase can be wired
Line-to-Neutral or Line-to-Line.

Minimum
Operating
Voltage

WAR NI NG : Adept systems require an isolating

transformer for connection to mains systems that are
asymmetrical or use an isolated (impedant) neutral.
Many parts of Europe use an impedant neutral.

a

Maximum
Operating
Voltage

Frequency/
Phasing

1-phase

Recommended
External Circuit
Breaker,
User-Supplied

10 Amps

DANGER: AC power installation must be performed by a

skilled and instructed person - see Section 2.12 on page 32 .

During installation, unauthorized third parties must be
prevented, through the use of fail-safe lockout measures,
from turning on power.

Facility Overvoltage Protection

The user must protect the robot from excessive overvoltages and voltage spikes. If the
country of installation requires a CE-certified installation or compliance with
the following information may be helpful:
ensure that Category II overvoltages (i.e., line spikes not directly due to lightning strikes)
are not exceeded. Transient overvoltages at the point of connection to the power source
shall be controlled not to exceed overvoltage Category II, i.e., not higher than the impulse
voltage corresponding to the rated voltage for the basic insulation. The user-supplied
equipment or transient suppressor shall be capable of absorbing the energy in the
transient.

IEC 1131-2 requires that the installation must

IEC 1131-2,

58 Adept Quattro s650 Robot User’s Guide, Rev B

Connecting 200-240 VAC Power to Robot

In the industrial environment, nonperiodic overvoltage peaks may appear on mains
power supply lines as a result of power interruptions to high-energy equipment (such as a
blown fuse on one branch in a 3-phase system). This will cause high current pulses at
relatively low voltage levels. The user shall take the necessary steps to prevent damage to
the robot system (for example, by interposing a transformer). See

IEC 1131-4 for

additional information.

AC Power Diagrams

1Ø

L

200–240 VAC
20 A

L = Line
N = Neutral
E = Earth Ground

Note: F1 is user-supplied, must be slow-blow.

F1 10 A

User-Supplied
AC Power Cable

EENNL

Adept Quattro
s650 Robot
1Ø 200–240 VAC

Figure 4-4. Typical AC Power Installation with Single-Phase Supply

Note: F4 and F5 are user-supplied, must be slow-blow.

F5 10 A

F4 10 A

200–240 VAC

User-Supplied
AC Power Cable

3Ø
200–240 VAC

L1

L2

EENL3L

L = Line 1
N = Line 2
E = Earth Ground

Adept Quattro
s650 Robot
1Ø 200–240 VAC

Figure 4-5. Single-Phase AC Power Installation from a Three-Phase AC Supply

Adept Quattro s650 Robot User’s Guide, Rev B 59

Chapter 4 - System Installation

Details for AC Mating Connector

The AC mating connector is supplied with each system. It is typically shipped in the cable
& accessories box. The plug is internally labeled for the AC power connections (L, E, N).

Table 4-6. AC Mating Connector Details

AC Connector details AC in-line power plug,

NOTE: The AC power cable is not supplied with the system. However, it
is available in the optional Power Cable kit. See T able4-1 on page 52.

straight, female, screw
terminal, 10 A, 250 VAC

Qualtek P/N 709-00/00

Digi-Key P/N Q217-ND

Procedure for Creating 200-240 VAC Cable

1. Locate the AC mating connector shown in Table 4-6.

2. Open the connector by unscrewing the screw on the shell and removing the cover.

3. Loosen the two screws on the cable clamp. See Figure 4-6 on page 60.

4. Use 18 AWG wire to create the AC power cable. Select the wire length to safely
reach from the user-supplied AC power source to the robot base.

5. Strip 18 to 24 mm insulation from each of the three wires.

6. Insert the wires into the connector through the removable bushing.

7. Connect each wire to the correct terminal screw and tighten the screw firmly.

8. Tighten the screws on the cable clamp.

9. Replace the cover and tighten the screw to secure the connector.

10. Prepare the opposite end of the cable for connection to the facility AC power
source.

Earth

Removable
Bushing

Cable
Clamp

Line

Neutral

Figure 4-6. AC Power Mating Connector

60 Adept Quattro s650 Robot User’s Guide, Rev B

Grounding the Adept Quattro s650 Robot System

Installing AC Power Cable to Robot

1. Connect the unterminated end of the AC power cable to your facility AC power

source. See Figure 4-4 and Figure 4-5 on page 59. Do not turn on AC power at this

time.

2. Plug the AC connector into the AC power connector on the interface panel on the
robot.

3. Secure the AC connector with the locking latch.

4.8 Grounding the Adept Quattro s650 Robot System

Proper grounding is essential for safe and reliable robot operation. Follow these
recommendations to properly ground your robot system.

• It is the user ’s responsibility to connect the frame ground and the robot base

ground.

NOTE: You must ground the robot base to the frame for all installations.

• One of the base mounting pads has two small holes (in addition to the M20

mounting hole). One of these is an M8 hole, provided as a ground.

NOTE: The mounting pad opposite this mounting pad has a single slot (in
addition to the M20 mounting hole).

• The tool flange has an M3 hole that can be used for attaching a ground.

NOTE: Any ground attached to the tool flange must be on the bottom
surface of the flange, as there is not sufficient clearance between the top
surface and the platform.

Robot-Mounted Equipment Grounding

If hazardous voltages are present at any user-supplied robot-mounted equipment or
tooling, you must install a ground connection for that equipment or tooling. Hazardous
voltages can be considered anything in excess of 30

DANGER: Failing to ground robot-mounted equipment or

tooling that uses hazardous voltages could lead to injury
or death of a person touching the end-effector when an
electrical fault condition exists.

If there will be hazardous voltages present at the tool flange or end-effector, it is the user’s
responsibility to:

VAC (42.4 VAC peak) or 60 VDC.

• Connect the robot base ground and the tool flange ground.

NOTE: A ground strap from the tool flange to the base mounting tab must
include a service loop that allows full rotation of the tool flange.

• Ground the end-effector to the tool flange.

Adept Quattro s650 Robot User’s Guide, Rev B 61

Chapter 4 - System Installation

4.9 Installing User-Supplied Safety Equipment

The user is responsible for installing safety barriers to protect personnel from
unintentional contact with the robot. Depending on the design of the workcell, safety
gates, light curtains, and emergency stop devices can be used to create a safe environment.

Read Chapter 2 in this manual for a discussion of safety issues.
Refer to the Adept SmartController User’s Guide for information on connecting safety

equipment into the system through the XUSR connector on the SmartController. There is a
detailed section on Emergency Stop Circuits and diagrams on recommended E-Stop
configurations.

62 Adept Quattro s650 Robot User’s Guide, Rev B

System Operation 5

5.1 Robot Status LED Description

The robot Status LED Indicator is located on the robot base. The LED status and blinking
pattern indicates the status of the robot.

Figure 5-1. Robot Status LED Indicator Location

Robot Status LED
Indicator

Brake Release
Button

2-digit Status
Display

Table 5-1. Robot Status LED Definition

LED Status 2-Digit Status

Panel Display

Off No display 24 VDC not present

Off OK High Power Disabled

Amber, Solid ON High Power Enabled

Amber, Solid Fault Code(s) Fault, see Diagnostics Display

Amber, Slow Blink OK or Fault Code(s) Selected Configuration Node

Amber, Fast Blink Fault Code(s) Fault, see Diagnostics Display

1

See Section 5.2

Description

1

1

1

Adept Quattro s650 Robot User’s Guide, Rev B 63

Chapter 5 - System Operation

5.2 Status Panel Fault Codes

The status panel, shown in Figure 5-1, displays alpha-numeric codes that indicate the
operating status of the robot, including detailed fault codes. Table 5-2 gives definitions of

the fault codes. These codes provide details for quickly isolating problems during
troubleshooting.

The displayed fault code will continue to be displayed even after the fault is corrected or
additional faults are recorded. All displayed faults will be cleared from the display and
reset to a no-fault condition, upon successfully enabling high power to the robot, or
power cycling the 24 V supply to the robot.

Table 5-2. Status Panel Codes

LED Status Code LED Status Code

OK No Fault H# High Temp Encoder (Joint #)

ON High Power ON Status hV High Voltage Bus Fault

MA Manual Mode I# Initialization Stage (Step #)

24 24 V Supply Fault M# Motor Stalled (Joint #)

A# Amp Fault (Joint #) NV Non-Volatile Memory

AC AC Power Fault P# Power System Fault (Code #)

D# Duty Cycle Exceeded (Joint #) PR Processor Overloaded

E# Encoder Fault (Joint #) RC RSC Fault

ES E-Stop SW Watchdog Timeout

F# External Sensor Stop S# Safety System Fault (Code #)

FM Firmware Mismatch T# Safety System Fault

FW 1394 Fault

h# High Temp Amp (Joint #) V# Hard Envelope Error (Joint #)

NOTE: All joint numbers correspond to the number etched into the end
caps of the inner arms.

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

(Code 10 + #)

64 Adept Quattro s650 Robot User’s Guide, Rev B

5.3 Using the Brake Release Button

Brakes

The robot has a braking system which decelerates the robot in an emergency condition,
such as when the emergency stop circuit is open or a robot joint passes its softstop.

The standard braking system will not prevent you from moving the robot manually, once
the robot has stopped (and High Power has been disabled).

In addition, the motors have electromechanical brakes. The brakes are released when
High Power is enabled. When High Power is disabled, the brakes engage and hold the
position of the robot fixed.

Brake Release Button

Under some circumstances, you may want to manually position the platform without
enabling High Power. For such instances, a Brake Release button is located above the

robot status panel (see Figure 5-1 on page 63). When system power is ON, pressing this

button releases the brakes, which allows movement of the arms and platform.

Using the Brake Release Button

If this button is pressed while High Power is ON, High Power will automatically shut
down.

NOTE: 24 Volt robot power must be ON to release the brakes.

CAUTION: When the Brake Release button is pressed, the

end-effector platform may drop to the bottom of its travel.
To prevent possible damage to the equipment, make sure
that the platform is supported when releasing the brake
and verify that the end-effector or other installed tooling is
clear of all obstructions.

5.4 Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See Table 5-3 and

Figure 5-2.

Table 5-3. Digital I/O Connection Options

Product I/O Capacity For more details

XIO Connector on Robot 12 inputs

8 outputs

see Section 5.5 on page 67

XDIO Connector on
SmartController

Optional sDIO Module,
connects to controller

12 inputs
8 outputs

32 inputs, 32 outputs per module;
up to four sDIO per system

Adept Quattro s650 Robot User’s Guide, Rev B 65

see Adept SmartController

User’s Guide

see Adept SmartController

User’s Guide

Chapter 5 - System Operation

Quattro s650 Robot

sDIO #1

32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064

*S/N 3563-XXXXX*

X4

X3

XDC1 XDC2

24V 0.5A

SC-DIO

- + - +

*S/N 3562-XXXXX*

RS-232/TERM

RS-422/485

RS-232-2

RS-232-1

XDC1XDC2

XMCP

XFP

SmartController CX

24V 5A

-+ -+

1

GND

XSLV

2

SmartServo

+24V
DC INPUT
(24 VDC)

AC INPUT

(200-240 VAC 1&)

RS-232

XPANEL

XIO

XIO Connector
12 Input signals: 1097 to 1108
8 Output signals: 0097 to 0104

Optional
sDIO #1

SmartController

IEEE-1394

1.1 1.2

R

X1

X2

CAMERA

Device Net

Eth 10/100

BELT ENCODER

XSYS

XUSR

OK

SF ES HD

123

LINK

OK

SF

R

SmartServo IEEE-1394

LANHPE

1.1 1.2 2.1 2.2

SW1

1 2 3 4

ON

OFF

XDIO

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

Figure 5-2. Connecting Digital I/O to the System

Table 5-4. Default Digital I/O Signal Configuration, Single Robot System

Location Type Signal Range

Controller XDIO connector Inputs 1001 - 1012

Outputs 0001 - 0008

sDIO Module Inputs 1033 - 1064

Outputs 0033 - 0064

sDIO Module 2 Inputs 1065 - 1096

Outputs 0065 - 0096

sDIO Module 3
(recommended

a

)

Inputs 1201 - 1232

Outputs 0201 - 0232

sDIO Module 4

a

(recommended

)

Robot 1 XIO connector

b

Inputs 1233 - 1264

Outputs 0233 - 0264

Inputs 1097 - 1108

Outputs 0097 - 0104

a

For sDIO modules 3 and 4, you must configure the signals using CONFIG_C

to have the system support those modules. See the Adept SmartController

User’s Guide for additional information on that process.

b

For Dual Robot systems, see Table 11-1 on page 105.

66 Adept Quattro s650 Robot User’s Guide, Rev B

Using Digital I/O on Robot XIO Connector

5.5 Using Digital I/O on Robot XIO Connector

The XIO connector on the robot interface panel offers access to digital I/O, 12 inputs and 8
outputs. These signals can be used by V+ to perform various functions in the workcell. See

Table 5-5 for the XIO signal designations.

• 12 Inputs, signals 1097 to 1108

• 8 Outputs, signals 0097 to 0104

Adept Quattro s650 Robot User’s Guide, Rev B 67

Chapter 5 - System Operation

Pin 1

Pin 9

Pin 10

Pin 18

Pin 26

Pin 19

Table 5-5. XIO Signal Designations

Pin
No. Designation

Signal
Bank

V+ Signal
Number Pin Locations

1GND

224 VDC

3Common 1 1

4 Input 1.1 1 1097

5 Input 2.1 1 1098

6 Input 3.1 1 1099

7 Input 4.1 1 1100

8 Input 5.1 1 1101

9 Input 6.1 1 1102

10 GND

11 24 VDC

12 Common 2 2

13 Input 1.2 2 1103

14 Input 2.2 2 1104

15 Input 3.2 2 1105

16 Input 4.2 2 1106

17 Input 5.2 2 1107

18 Input 6.2 2 1108

19 Output 1 0097

20 Output 2 0098

21 Output 3 0099

22 Output 4 0100

23 Output 5 0101

24 Output 6 0102

25 Output 7 0103

26 Output 8 0104

XIO 26-pin female
connector on Robot
Interface Panel

68 Adept Quattro s650 Robot User’s Guide, Rev B

Using Digital I/O on Robot XIO Connector

Optional I/O Products

These optional products are also available for use with digital I/O:

• XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 72

for information. This cable is not compatible with the XIO Termination Block
mentioned below.

• XIO Termination Block, with terminals for user wiring, plus input and output

status LEDs. Connects to the XIO connector with 6 foot cable. See the Adept XIO

Termination Block Installation Guide for details.

XIO Input Signals

The 12 input channels are arranged in two banks of six. Each bank is electrically isolated
from the other bank and is optically isolated from the robot’s ground. The six inputs
within each bank share a common source/sink line.

The inputs are accessed through direct connection to the XIO connector (see Table 5-5 on

page 68), or through the optional XIO Termination Block. See the documentation supplied

with the Termination Block for details.

The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or

vision triggers. See the V+ Language User’s Guide for information on digital I/O

programming.

XIO Input Specifications

Table 5-6. XIO Input Specifications

Operational voltage range 0 to 30 VDC

“OFF” state voltage range 0 to 3 VDC

“ON” state voltage range 10 to 30 VDC

Ty p i c a l t h r e shold voltage V

= 8 VDC

in

Operational current range 0 to 7.5 mA

“OFF” state current range 0 to 0.5 mA

“ON” state current range 2.5 to 7.5 mA

Ty p i c a l t h r e shold current 2.0 mA

Impedance (V

Current at V

Turn on response time (hardware)

Software scan rate/response time

)3.9 K Ω minimum

in/Iin

= +24 VDC Iin ≤ 6 mA

in

5 µsec maximum

16 ms scan cycle/
32 ms max response time

Tu r n o f f r e sponse time (hardware)

5 µsec maximum

Software scan rate/response time

NOTE: The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.

Adept Quattro s650 Robot User’s Guide, Rev B 69

16 ms scan cycle/
32 ms max response time

Chapter 5 - System Operation

Typical Input Wiring Example

Adept-Supplied Equipment

(equivalent circuit)

XIO Connector – 26-Pin Female D-Sub

Input Bank 2 Input Bank 1

Signal 1097

Signal 1098

Signal 1099

Signal 1100

Signal 1101

Signal 1102

Bank 1

Common

Signal 1103

Signal 1104

Signal 1105

Signal 1106

Signal 1107

Signal 1108

Bank 2

Common

+24V

GND

GND

+24V

4

5

6

7

8

9

3

2

1

13

14

15

16

17

18

12

10

11

User-Supplied Equipment

Wiring
Terminal
Block

Typical User
Input Signals

Part Present Sensor

Feeder Empty Sensor

Part Jammed Sensor

Sealant Ready Sensor

Note: all Input signals
can be used for either
sinking or sourcing
configurations.

Bank 1 configured for

Sinking (NPN) Inputs

Bank 2 configured for

Sourcing (PNP) Inputs

Figure 5-3. Typical User Wiring for XIO Input Signals

NOTE: The OFF state current range exceeds the leakage current of XIO

outputs. This guarantees that the inputs will not be turned on by the
leakage current from the outputs. This is useful in situations where the
outputs are looped-back to the inputs for monitoring purposes.

70 Adept Quattro s650 Robot User’s Guide, Rev B

Using Digital I/O on Robot XIO Connector

XIO Output Signals

The eight digital outputs share a common, high side (sourcing) Driver IC. The Driver is
designed to supply any kind of load with one side connected to ground. It is designed for
a range of user-provided voltages from 10 to 24 VDC, and each channel is capable of up to

0.7 A of current. This Driver has overtemperature protection, current limiting, and
shorted load protection. In the event of an output short or other overcurrent situation, the
affected output of the Driver IC turns off and back on automatically to reduce the
temperature of the IC. The Driver draws power from the primary 24 VDC input to the
robot through a self-resetting polyfuse.

The outputs are accessed through direct connection to the XIO connector (see Table 5-5 on

page 68), or through the optional XIO Termination Block. See the documentation supplied

with the Termination Block for details.

XIO Output Specifications

Table 5-7. XIO Output Circuit Specifications

Parameter Value

Power supply voltage range See Table 4-2 on page 54.

Operational current range, per
channel

≤ 700 mA

I

out

Total Current Limitation, all channels
on.

On state resistance (I

= 0.5 A) R

out

Output leakage current I

≤ 1.0 A @ 50°C ambient

I

total

≤ 1.5 A @ 25°C ambient

I

total

≤ 0.32 Ω @ 85° C

on

≤ 25 µA

out

Tu r n o n r e sponse time 125 µsec max., 80 µsec typical

(hardware only)

Turn off response time 60 µsec. max., 28 µsec typical

(hardware only)

Output voltage at inductive load
turnoff (I

= 0.5 A, Load = 1 mH)

out

(+V - 65) ≤ V

DC short circuit current limit 0.7 A ≤ I

Peak short circuit current I

ovpk

≤ 4 A

LIM

≤ (+V - 45)

demag

≤ 2.5 A

Adept Quattro s650 Robot User’s Guide, Rev B 71

Chapter 5 - System Operation

Typical Output Wiring Example

Adept-Supplied Equipment User-Supplied Equipment

+24 VDC

Wiring
Terminal
Block

Typical User Loads

Load

Load

M

L

N

Customer
AC Power
Supply

Outputs 1-8

(equivalent
circuit)

Signal 0097

Signal 0098

Signal 0099

Signal 0100

Signal 0101

Signal 0102

Signal 0103

Signal 0104

GND

GND

19

20

21

22

23

24

25

26

1

10

Load

M

XIO Connector – 26-Pin Female D-Sub

Figure 5-4. Typical User Wiring for XIO Output Signals

XIO Breakout Cable

The XIO Breakout cable is available as an option (see Figure 5-5). This cable connects to

the XIO connector on the robot, and provides flying leads on the user’s end, for
connecting input and output signals in the workcell. The part number for the 5 M (16.4 ft)
cable is 04465-000.

See Table 5-8 on page 73 for the wire chart on the cable.

NOTE: This cable is not compatible with the XIO Termination Block.

Figure 5-5. Optional XIO Breakout Cable

72 Adept Quattro s650 Robot User’s Guide, Rev B

Table 5-8. XIO Breakout Cable Wire Chart

Pin 9

Pin 1

Pin 18

Pin 10

Pin 19

Pin 26

Signal

Pin No.

Designation Wire Color Pin Locations

1GND White

2 24 VDC White/Black

3 Common 1 Red

4 Input 1.1 Red/Black

5 Input 2.1 Yellow

6 Input 3.1 Yellow/Black

7 Input 4.1 Green

8 Input 5.1 Green/Black

9 Input 6.1 Blue

10 GND Blue/White

11 24 VDC Brown

12 Common 2 Brown/White

13 Input 1.2 Orange

14 Input 2.2 Orange/Black

15 Input 3.2 Gray

16 Input 4.2 Gray/Black

17 Input 5.2 Violet

18 Input 6.2 Violet/White

19 Output 1 Pink

20 Output 2 Pink/Black

21 Output 3 Light Blue

22 Output 4 Light Blue/Black

23 Output 5 Light Green

24 Output 6 Light Green/Black

25 Output 7 White/Red

26 Output 8 White/Blue

Shell Shield

Commissioning the System

26-pin male
connector on XIO
Breakout Cable

5.6 Commissioning the System

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

• Verifying installation, to confirm that 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 the robot with the T1 (if purchased) to confirm each arm moves correctly.

Adept Quattro s650 Robot User’s Guide, Rev B 73

Chapter 5 - System Operation

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, 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 platform tooling is properly installed.

• Verify that the platform is clocked

• Verify that all other peripheral equipment is properly installed such that it is safe
to turn on power to the robot system.

System Cable Checks

Verify the following connections:

• Front Panel connected to the SmartController.

• Optional T1 connected to the SmartController, via the MCP adapter cable, or a
loop-back dongle installed.

• User-supplied 24 VDC power connected to the controller.

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

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

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

• User-supplied 24 VDC power connect to the robot 24 VDC connector.

• User-supplied 200/240 VAC power connect to the robot 200/240 VAC connector.

User-Supplied Safety Equipment Checks

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

74 Adept Quattro s650 Robot User’s Guide, Rev B

Commissioning the System

System Start-up Procedure

Once the system installation has been verified, you are ready to start up the system.

1. Switch ON the 200/240 VAC power.

2. Switch ON the 24 VDC power to the robot.

3. Switch ON the 24 VDC power to the controller.

4. Connect to the controller using AdeptWindows, and boot the system from the
“D” default drive.

5. Wait for the system to complete the boot cycle. Once completed the system will
return with a “dot” prompt, and the following window should be displayed.

Figure 5-6. Typical Startup Screen

6. There should be no listed errors if the boot sequence completed successfully.

7. Disengage any E-Stops.
This can be verified by toggling the mushroom E-stop and listening for the sound
of the relay clicking on and off.

8. Verify correct outer arm installation by holding the platform and moving it
around the work volume while pressing the brake release button.

NOTE: Make sure that you hold the platform prior to pressing the brake
release button.

The platform motion should be smooth and free from any binding.

9. Enable high power.

ENA POW <

Press the High Power button on the Front Panel while it is blinking.

NOTE: Listen for an audible click from the brakes releasing when
calibration is executed. If heard, this indicates that the robot is servoing
all motors to remain in position at all times.

ENTER>

Adept Quattro s650 Robot User’s Guide, Rev B 75

Chapter 5 - System Operation

10. If you did not hear a click in the previous step, you must explicitly calibrate the
robot:

CAL <

ENTER>

11. The system will return with a “dot” (.) prompt if everything was successful, then
high power will be enabled, and the status panel display will read “OK.”

12. The system is ready for operation.

NOTE: You may receive an “exception overrun” or “obstacle detected”
error if the platform is not in the robot work envelope or is disconnected
from the robot base. If so, disable power (by typing “DIS POW” at the V+
dot prompt), release the brakes, and move the platform into the work
envelope.

Verifying E-Stop Functions

Verify that all E-Stop devices are functional (T1, 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.

Verifying Robot Motions

Use the T1 (if purchased) to verify that the robot moves correctly. Refer to the Adept T1

User’s Guide for complete instructions on using the T1.

The Quattro is a parallel-arm robot and, as such, individual joint motions are not allowed.
If you attempt to move a joint in Joint mode, your will get an error message:

JOINT <n> OUT OF RANGE

where <n> is the joint that you attempted to move.

NOTE: All joint numbers correspond to the number etched into the end
caps of the inner arms.

If one joint must be moved independently, release the brakes (while supporting the
platform) and move the joint manually.

5.7 Quattro Motions

Straight-line Motion

Joint-interpolated motion is not possible with the Adept Quattro s650 robot, because the
positions of all the joints must always be coordinated in order to maintain the connections
to the moving platform. Therefore, for the Adept Quattro s650 robot, the V+ system
automatically performs a straight-line motion when a joint-interpolated motion
instruction is executed.

76 Adept Quattro s650 Robot User’s Guide, Rev B

Quattro Motions

Containment Obstacles

The work space of the robot is defined by an inclusion obstacle. This is done because,
unlike other robots, joint limits are not meaningful in defining the work space. The V+
version that supports the Quattro defines a cone-like shape as a containment obstacle.

This is actually the work envelope. See “Work Envelope, Side View” on page 87. Other

obstacles can be defined within this obstacle.

Tool Flange Rotation Extremes

This section addresses an ambiguity that can occur at extremes of the tool flange rotation.
Note the following exceptions:

• Quattro robots with tool flange rotation of less than 360° (e.g., 1:1 platform) are not
affected.

• Manual control is not affected.

• Program-controlled motions with destinations not near the extremes of tool flange
rotation, or that start and stop on the same side (either + or -) of the center angle of
rotation of the tool flange are not affected. That means that most of the range of
tool rotation is not affected.

Since there is no robot axis directly associated with the tool flange rotation, that rotation is
specified by the roll component of the destination transformation.

The V+ system considers the center angle of rotation of the tool flange to have a roll
component of 180°, and the roll component approaches 0° as the tool-rotation angle
approaches ±180°.

NOTE: The roll is -180 on one side of the center of rotation, and +180 on
the other side. See Figure 5-7 on page 78.

An ambiguity, however, exists at a roll angle of 0°, since the tool-rotation angle can be
either +180° or -180° at that roll angle. Furthermore, due to the resolution of the tool flange
rotation, the ambiguity actually exists for roll values between about -0.1° and +0.1°. This is
considered to be the “ambiguity zone” for the tool rotation. (The “ambiguity zone”
increases if the total tool rotation is greater than 360° by the amount that the total tool
rotation exceeds 360°.)

In order to address this ambiguity, the following rule has been implemented in the
motion-planning software:

When a motion destination has a tool rotation within the “ambiguity zone” (i.e.,
tool rotation greater than +179.9°, or less [more negative] than -179.9°), the tool is
permitted to rotate only in the direction of the shortest distance from the starting
position to the destination position. But if that rotation would exceed the range of
motion in that direction, the error “*Location out of range*” is reported and the
motion is not performed.

Adept Quattro s650 Robot User’s Guide, Rev B 77

Chapter 5 - System Operation

Roll = 0° (tool flange = ±180°)

“Ambiguity” zone

Roll = -0.1° Roll = +0.1°

-90° +90°

Negative

Roll

Roll:

Center of tool flange rotation

(tool flange = 0°)

Positive

Roll

+180°-180°

Figure 5-7. Ambiguity Zone

As examples:

• With the roll initially at +170°, an attempt to move to roll value -0.05 will cause the
system to try to rotate 170.05° (the shorter distance)--through roll values 160, 150,
140, ..., 10, 0, to -0.05. However, the maximum possible rotation in that direction is
170°, so the error “*Location out of range*” will result, and no motion will occur.
(An initial motion to any negative roll value outside the “ambiguity zone” will

enable a second motion to the desired destination.) See Figure 5-8.

Roll = 0°

“Ambiguity” zone

Roll = -0.1° Roll = +0.1°

-90° +90°

Negative

Roll

Roll:

Move from
+170 to -0.05
is not legal

Roll = +170°

+180°-180°

Figure 5-8. Illegal Move

78 Adept Quattro s650 Robot User’s Guide, Rev B

Quattro Motions

• With the roll initially at +170°, a motion to roll value +0.05 will cause the system to
rotate 169.95° (the shorter distance), through roll values 160, 150, 140, ..., 10 to

+0.05. See Figure 5-9 on page 79.

Roll = 0°

“Ambiguity” zone

Roll = -0.1° Roll = +0.1°

-90° +90°

Negative

Roll

Roll:

Move from

+170 to +0.05

is legal

Roll = +170°

+180°-180°

Figure 5-9. Legal Move

As these examples demonstrate, it might or might not be possible to perform a tool
rotation to the “ambiguity zone” with a single motion instruction. In order to avoid that
uncertainty, the following approach should be used:

• If necessary, the tool must first be rotated to a position on the destination side of
the center angle of rotation of the tool flange.

• A motion to the destination can then be performed.

The two motions can be performed as one continuous-path motion, i.e., no break or stop
motion is required.

Adept Quattro s650 Robot User’s Guide, Rev B 79

Chapter 5 - System Operation

The following is a sample program that accomplishes this:

.PROGRAM q_move(target.loc)

; ABSTRACT: Move to the specified destination location, performing
; an intermediate motion if necessary because the destination
; rotation is "close to zero" and on the "other side" of the
; range of rotation.
;
; INPUT: target.loc Transformation defining the destination
;
; OUTPUTS: None
;_______________________________________________________________________

AUTO loc1[6], loc2[6], small

small = 0.1 ;Criterion for "close to 0"

; If the destination can be reached, consider whether or not an
; intermediate motion is needed.

IF INRANGE(target.loc) THEN

DECOMPOSE loc1[1] = HERE ;Components of HERE
DECOMPOSE loc2[1] = target.loc ;Components of destination

; If the destination rotation is very close to zero degrees,
; and it's on the "other side" of the range of rotation from
; the starting rotation, move to the center of the range of
; rotation. (Two IFs are used to improve efficiency.)

IF ABS(loc2[6]) <= small THEN

IF SIGN(loc2[6]) <> SIGN(loc1[6]) THEN

MOVES TRANS(loc2[1],loc2[2],loc2[3],loc2[4],loc2[5],180)

END

END

END

; Move to the final destination (which will fail if the location
; cannot be reached).

MOVES target.loc

.END

RETURN

A second, more complicated example follows. The intent of this example is to perform the
tool rotation during the move, leading to a smoother motion.

80 Adept Quattro s650 Robot User’s Guide, Rev B

Quattro Motions

.PROGRAM a_move(target.loc)

; ABSTRACT: Move to the specified destination location, performing an
; intermediate motion if necessary because the destination
; rotation is "close to zero" and on the "other side" of the
; range of rotation.
;
; INPUT: target.loc Transformation defining the destination
;
; OUTPUTS: None
;_______________________________________________________________________

AUTO frac, ii, loc1[6], loc2[6], sav.spd[1], small

small = 0.1 ;Criterion for "close to 0"

; If the destination can be reached, consider whether or not an
; intermediate motion is needed.

IF INRANGE(target.loc) THEN
DECOMPOSE loc1[1] = HERE ;Components of HERE
DECOMPOSE loc2[1] = target.loc ;Components of destination

; If the destination rotation is very close to zero degrees,
; and it's on the "other side" of the range of rotation from
; the starting rotation, move to the center of the range of
; rotation. (Two IFs are used to improve efficiency.)

IF ABS(loc2[6]) <= small THEN
IF SIGN(loc2[6]) <> SIGN(loc1[6]) THEN

; Compute the fraction of the total motion to get
; to the center of the range of rotation.

frac = (180-ABS(loc1[6]))/(360-ABS(loc1[6]))

; Compute correspondingly scaled components of the
; destination transformation.

FOR ii = 1 TO 5
loc2[ii] = loc1[ii]+frac*(loc2[ii]-loc1[ii])
END

; Save temporary motion speeds so they can be
; applied to the "final" motion below.
;
; Note: More temporary settings (COARSE/FINE,
; NONULL/NULL, etc.) could be saved based on values
; returned by the CONFIG real- valued function.

sav.spd[1] = SPEED(7)

; Move to the computed transit location.

MOVES TRANS(loc2[1],loc2[2],loc2[3],loc2[4],loc2[5],180)

; Re-apply the temporary speed settings so they
; will apply to the motion below.

END
END
END

; Move to the final destination (which will fail if the location cannot
; be reached).

MOVES target.loc

RETURN
.END

sav.spd[0] = SPEED(4)

SPEED sav.spd[0], sav.spd[1]

Adept Quattro s650 Robot User’s Guide, Rev B 81

Chapter 5 - System Operation

5.8 Learning to Program the Adept Quattro Robot

To learn how to use and program the robot, go to the V+ Operating System User’s Guide to

find information on basic operation of the V

Instructions for Adept Utility Programs for information on using the Adept utility programs.

For programming information you need to refer to the following list of optional manuals:

• V+ Language User’s Guide

• V+ Language Reference Guide

• V+ Operating System Reference Guide

+

Operating System. Also refer to the

82 Adept Quattro s650 Robot User’s Guide, Rev B

6.1 End-Effectors

The user is responsible for providing and installing any end-effector or other tooling,
vacuum lines, and wiring to the end-effector.

Attaching

End-effectors can be attached to the tool flange using either four M6 screws or a ring

clamp. Hardware for both methods is supplied in the accessories kit. See Figure 7-2 on

page 86 for a dimension drawing of the tool flange.

NOTE: The combined weight of the end-effector and the payload must not

exceed 2 kg.

The screws used to attach end-effectors to the tool flange must not extend
more than 0.079 in. [2 mm] past the top of the tool flange.

Optional Equipment

Installation 6

Aligning

A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in a hole in the tool flange and

can be used as a keying or anti-rotation device in a user-designed end-effector. See Figure

7-2 on page 86.

NOTE: The dowel pin used to align an end-effector with the tool flange
must not extend more than 0.079 in. [2 mm] past the back (top) of the tool
flange.

Grounding

If hazardous voltages are present at the end-effector, you must install a ground

connection to the end-effector. See “Robot-Mounted Equipment Grounding” on page 61.

Accessing Vacuum

The tool flange is threaded at both ends with 1/8 G threads. This allows the user to attach
a vacuum line at the top, and attach the tool to the bottom of the flange to access the

vacuum. See the bottom drawing in Figure 7-2 on page 86.

Adept Quattro s650 Robot User’s Guide, Rev B 83

Chapter 6 - Optional Equipment Installation

6.2 Routing End-effector Lines

End-effector lines (either vacuum/air lines or electrical wires) can be routed to the
platform by

• Attaching to the inner and outer arms, and then to the platform.

• Attaching from the robot support frame to the outer arms.

• Attaching from the robot base directly to the platform.

If end-effector lines are attached to the outer arms to reach the end-effector, either directly
from the frame, or along the inner arms:

• Make every attempt to keep the load on the outer arms as evenly balanced as
possible.
The added weight should be attached symmetrically about the platform center.

• Verify that the arms can be fully extended without interference from the
lines.
Ensure that there is enough line to reach the end-effector or vacuum fitting of
the flange at all platform locations.

• Verify that the platform can be fully rotated at all positions without affecting
or being affected by the lines.

• Verify that any service loop or excess line does not hang down below the end
effector at any platform position.

• Verify that excess line cannot become tangled in the outer arms or platform.

If end-effector lines are attached directly to the bottom of the robot base to reach the
end-effector:

• Lines attached to the robot base need some form of retraction mechanism or
service loop to take up the slack when the platform is not extended far from the
robot base.

• Ensure that the lines (and retraction mechanism) do not apply significant force, in
any direction, to the platform.

• Ensure that lines going to the robot base do not block your view of the status LED.

• Ensure that lines going to the robot base do not interfere with the inner arm
movement.

User-added end-effector lines:

• Should be checked for the entire work envelope being utilized.
They must reach without being pulled, and without impeding arm or platform
movement.

• Cannot add any load to the platform, or pull against the platform with significant
force. Robot performance will be affected.

• Are the user’s responsibility for maintenance.
They are not covered in the Maintenance section of this manual.

• Are not considered in the robot’s IP rating.

84 Adept Quattro s650 Robot User’s Guide, Rev B

Technical Specifications 7

7.1 Dimension Drawings

4x M20 x 2.5-6H THRU

409.9

214.7

245.4

379.2

379.2

276.2

Y+

348.4

245.4

X+

1300

Units are millimeters

Note: Center of work envelope is offset from center of

Figure 7-1. Top Dimensions, Work Envelope, and Mounting Hole Pattern

mounting pattern by 30.8 in the the X+ direction

Adept Quattro s650 Robot User’s Guide, Rev B 85

Chapter 7 - Technical Specifications

R 3.6 5

Quick-disconnect
Clamp-ring groove

2.0 Clearance to platform

A

.5 x 45° Chamfer

2X

63.0 ± .25

.02

A

2X Ø

4X 45.00°

41.1

Ø

59.7

BCØ 50.00

2X 45.00°

.03

+

.00

-

Ø

24.9

25°

Ø

0.600

1.5

4.1

Quick-disconnect clamp-ring groove

2 mm Clearance to Platform

2 x 1/8 inch G threads

for End-effector vacuum

4X farside

A B C

0.1

Threaded thru for Helicoil insert
M6 x 1.0 - 9 mm Diameter stainless steel

+.0013

-.000

All dimensions are in mm

A

M3 x 0.5 - 6H THRU

Dimensions are in mm

Figure 7-2. Tool Flange Dimensions

12.7

A

6.8

8.9

10.5

13.0

16.1

B

.02

SECTION A-A

12.7

A

8.0

86 Adept Quattro s650 Robot User’s Guide, Rev B

38.1 OPTIONAL
MOUNTING
SURFACE

Z+

Dimension Drawings

146.1

Z=0

741.3

250

250

700

Units are mm

1300

Figure 7-3. Work Envelope, Side View

Adept Quattro s650 Robot User’s Guide, Rev B 87

Chapter 7 - Technical Specifications

47.2

236.3

164.9

132.1

34.0° 40.0°

28.5

228.6

40.0°

98

ARM TRAVEL
VOLUME (4X)

61.6

66

330.2

Units are millimeters

Figure 7-4. Arm Travel Volume

88 Adept Quattro s650 Robot User’s Guide, Rev B

Adept Quattro s650 Robot Internal Connections

7.2 Adept Quattro s650 Robot Internal Connections

Force-Guided Relay
Cyclic Check
Control Circuit

Single-Phase
AC Input
200-240 VAC

Quattro AIB
Internal Connections

Force-Guided Force-Guided

Man 1

Man 2
Auto 1
Auto 2

ESTOPSRC

ESTOPGND

HPWRREQ

High Power to
Amplifiers

Quattro XSLV
Panel Connections

XSLV-2
XSLV-3
XSLV-6
XSLV-7

XSLV-9

XSLV-1

XSLV-5

Figure 7-5. Robot Internal Connections Diagram

To XSYS on
SmartController

Adept Quattro s650 Robot User’s Guide, Rev B 89

Chapter 7 - Technical Specifications

7.3 XSLV Connector

Table 7-1. XSLV Connector Pinout

Pin # Description Comment Pin Location

1ESTOPGND ESTOP System Ground

2MAN1 ESTOP Manual Input Ch 1

3MAN2 ESTOP Manual Input Ch 2

4HIPWRDIS High Power Disable

5ESTOP_RESET Normally Closed Check Contacts

6AUTO1 ESTOP Auto Input Ch 1

7AUTO2 ESTOP Auto Input Ch 2

8N/C

9 ESTOP_SRC ESTOP System +24 V

Mating Connector:

AMP/Tyco #747904-2, 9-pin D-Sub
AMP/Tyco #748676-1, D-Sub Cable Clamp

Pin 5

Pin 9

XSLV1/2 Connector
as viewed on Cobra

Pin 1

Pin 6

90 Adept Quattro s650 Robot User’s Guide, Rev B

7.4 Robot Specifications

Robot Specifications

Table 7-2. Adept Quattro s650 Robot Specifications

Description Specification

Reach (cylinder radius) 650 mm (25.6 in)

Payload - rated 2.0 kg (4.4 lb)

Payload - maximum 2.0 kg (4.4 lb)

b

Adept Cycle

0.1 kg 0.26 sec

0.5 kg 0.29 sec

1.5 kg 0.32 sec

2.0 kg 0.50 sec

Joint Range +123° to -51°

Soft stops +120° to -48°

Encoder type Absolute

Robot Brakes 24 VDC

Digital I/O Channels 12 inputs, 8 outputs

Weight (without options) 117 kg (258 lb)

Weight (in crate) 154 kg (340 lb)

a

Footprint 883 x 883 mm (34.8 x 34.8 in.)

a

Specifications subject to change without notice.

b

The robot tool performs continuous path, straight-line motions 25
mm (1 in.) up, 305 mm (12-in.) over, 25 mm (1 in.) down, and back
along the same path. Not achievable over all paths.

Table 7-3. Adept Quattro s650 Robot Power Consumption

Averaged
Sustained
Power (W)

Sustained
RMS
Current (A)

Peak
Momentary
Power (W)

25-700-25 mm cycle 830 4.0 5080

25-305-25 mm cycle 490 2.5 4640

Long Vertical Strokes910 max. 4.5 5390

Adept Quattro s650 Robot User’s Guide, Rev B 91

Chapter 7 - Technical Specifications

7.5 Platform Specifications

Rotation and Payload Inertia - Range

With a practical platform limit of 8 Nm, the gearing of the rotation affects the limits of the
tool rotational forces.

The platform is physically limited to just over ± 50°. The 4:1 platform is limited, in
software, to ± 45°, yielding tool rotation of ±180°.

Platform Gear Ratio

Allowable Tool Rotational Force (Nm)

Allowable Tool Rotation (Degrees)

There is an inherent trade-off between range of motion and payload inertia. Increased
inertial loads are acceptable, but rotational accelerations must be limited not to excite
vibrations in the outer arms and ball joints.

1:1 4:1

82

±50 ±180

Rotation and Payload Inertia - Performance

The 8 Nm platform limit can be equated into a tool inertia for a given Accel.

Allowable Tool

Inertia

Ratio

2

)

(Kg-cm

Platform Gear

Accel Value 1:1 4:1 9 0 180 360

Time for Complete

Rotation (ms)

Degrees of Rotation

100 672 42 316 >447 >632

250 269 17 200 283 >400

500 134 8 141 200 283

750 90 6 115 163 231

92 Adept Quattro s650 Robot User’s Guide, Rev B

7.6 Robot Mounting Frame

The Adept Quattro s650 is designed to be mounted above the work area suspended on a
user-supplied frame. The frame must be adequately stiff to hold the robot rigidly in place
while the robot platform moves around the workspace. The user can either use the design

provided or design a custom support frame. See “Mounting Frame” on page 38. The
drawings for the sample frame are provided here, starting with Figure 7-6 on page 94.

If the user chooses to design a custom frame, it must meet the following specifications:

Desired Frame Natural Frequencies for Stable Quattro Operations:

• Wn (X direction) > 45 Hz.

• Wn (Y direction) > 31 Hz.

• Wn (Twist) > 45 Hz.

• Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane.

CAUTION: Failure to mount the Quattro robot within

0.75 mm of a flat plane will result in inconsistent robot
motions.

Robot Mounting Frame

The AIB must be removable from the top of the frame and the inner and outer arm travel

envelopes must be considered. See Figure 7-4 on page 88.

The following are drawings of a frame suitable for supporting the Adept Quattro s650
robot. This frame allows the Quattro to be either lowered from above or lifted up from
underneath the frame for installation.

NOTE: This frame is designed to have the robot mounted to the underside
of the frame mounting tabs.

Adept Quattro s650 Robot User’s Guide, Rev B 93

Chapter 7 - Technical Specifications

SEE DETAIL 2

SEE DETAIL 1

2000.0

MATERIAL SIZING:

150mm X 150mm X 6mm SQUARE STRUCTURAL TUBINGA.
120mm X 120mm X 10mm SQUARE STRUCTURAL TUBINGB.
250mm X 250mm X 15mm TRIANGULAR GUSSETC.

1800.0

2000.0

UNLESS OTHERWISE SPECIFIED:

* DIMENSIONS ARE IN MILLIMETERS

A

4x

SEE DETAIL 1

A

4x

B

2x

A

C

20x

4x

Figure 7-6. Mounting Frame, Orthogonal View

94 Adept Quattro s650 Robot User’s Guide, Rev B

2000.0

2000.0

4x

TOP & BOTTOM SURFACES
OF PLATES

UNLESS OTHERWISE SPECIFIED:

* DIMENSIONS ARE IN MILLIMETERS

0.75

Robot Mounting Frame

4x

300.0
MIN

Figure 7-7. Mounting Frame, Side View 1

1800.0

2x

500.0

UNLESS OTHERWISE SPECIFIED:

* DIMENSIONS ARE IN MILLIMETERS

Figure 7-8. Mounting Frame, Side View 2

Adept Quattro s650 Robot User’s Guide, Rev B 95

Chapter 7 - Technical Specifications

DETAIL 1

B

4x

90.0

300.0

46.2°

275.0

150.0

25.0
MIN.

100.0

36.4°

UNLESS OTHERWISE SPECIFIED:

Figure 7-9. Mounting Frame, Detail 1

DETAIL 2

580.0

180.0

* DIMENSIONS ARE IN MILLIMETERS

B

4x

300.0

59.4°

285.0

150.0

90.0

25.0
MIN.

100.0

680.0

31.0°

175.0

UNLESS OTHERWISE SPECIFIED:

* DIMENSIONS ARE IN MILLIMETERS

Figure 7-10. Mounting Frame, Detail 2

96 Adept Quattro s650 Robot User’s Guide, Rev B

1000.0

290.0

245.41

2000.0

430.0

379.18

520.0

Robot Mounting Frame

19.50

4x

18.50

THRU

1800.0

520.0

900.0

430.0

290.0

379.18

245.41

45°4x

15.5

4x

14.0

379.18

430.0

520.0

245.41

290.0

Figure 7-11. Mounting Frame, Top View

290.0

245.41

379.18

430.0

UNLESS OTHERWISE SPECIFIED:

* DIMENSIO NS ARE IN MILLIMETERS

520.0

Adept Quattro s650 Robot User’s Guide, Rev B 97

Maintenance 8

Maintenance of user-added optional equipment (electrical and vacuum lines to the tool
flange) is the user’s responsibility. It is not covered in the Maintenance section of this
manual.

8.1 Periodic Maintenance Schedule

Table 8-1 gives a summary of the preventive maintenance procedures and guidelines on

frequency.

Table 8-1. Inspection and Maintenance

Item Period Reference

Check E-Stop, enable and key switches, and barrier
interlocks

Check robot mounting bolts 6 monthsSee Section 8.3
Check robot gear drive area 3 monthsSee Section 8.4.
Check the functioning of four motor fans in the robot base3 monthsSee Section 8.5.

Replace encoder battery 8 years to

NOTE: The frequency of these procedures will depend on the particular
system, its operating environment, and amount of usage. Use the times in

Table 8-1 as guidelines and modify the schedule as needed.

WAR NI NG : The procedures and replacement of parts

mentioned in this section should be performed only by

skilled or instructed persons, as defined in Chapter 2.

The motor covers and the AIB on the robot are not
interlocked – turn off and disconnect power if these have
to be removed. Lockout and tagout power before
servicing.

6 monthsSee Section 8.2

See Section 8.7

15 years

Adept Quattro s650 Robot User’s Guide, Rev B 99

Chapter 8 - Maintenance

8.2 Checking Safety Systems

These tests should be done every six months.

NOTE: Operating any of the following switches or buttons must disable
high power. If any of the tests fails, repairs must be made before the robot
is put back into operation.

1. Test operation of:

• E-Stop button on Front Panel

• E-Stop button on pendant

• Enabling switch on pendant

• Auto/Manual switch on Front Panel

2. Test operation of any external (user-supplied) E-Stop buttons.

3. Test operation of barrier interlocks, etc.

8.3 Checking Robot Mounting Bolts

Check the tightness of the base mounting bolts every 6 months. Refer to Table 3-2 on

page 45 for torque specifications.

8.4 Checking Robot Gear Drives

Adept Quattro s650 robots use gear drives, which use oil in their components for
lubrication. It is recommended that you periodically inspect the robot for signs of oil on
and around the gear drives.

NOTE: Check the operation of the fans while the motor covers are off.
See Section 8.5.

1. Remove all power to the robot before starting this check.

2. Wait for the motors to cool before performing this check.

3. Check for oil inside the base of the robot after removing the motor covers.

WAR NI NG : Do not remove the encoder cable connectors

from their sockets on the motors. If they are removed, the
calibration data will be lost and the robot must be
recalibrated, which requires special software and tools

• Look through the venting slots under each motor for oil leakage.

• Feel the bottom of the motors with your finger through the venting slots.

4. Check the outside of the motors and gear drives for any signs of oil.

5. Contact Adept if you find any signs of oil in these areas.

100 Adept Quattro s650 Robot User’s Guide, Rev B